Fast On-Board Motion Planning for Modular Robots
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00221350" target="_blank" >RIV/68407700:21230/14:00221350 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907008" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907008</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2014.6907008" target="_blank" >10.1109/ICRA.2014.6907008</a>
Alternative languages
Result language
angličtina
Original language name
Fast On-Board Motion Planning for Modular Robots
Original language description
Modular robots, which are systems made of many robotic modules, can utilize various types of locomotion. Different approaches can be used to generate these basic motion skills ? motion primitives. To move in a complex environment, several motion primitives are needed and a mechanism to switch them is required. This can be realized using a high-level motion planning. To enable autonomous operation of modular robots equipped with limited computational resources, it is necessary to generate the motion plans on-board, i.e., without external computers. In this paper, we propose a novel simplified motion model of a modular robot, which allows the robot to employ the motion planner as a fast on-board replanner. The proposed approach has been verified both insimulations as well as with real robots.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation
ISBN
978-1-4799-3684-7
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
1215-1220
Publisher name
IEEE
Place of publication
Piscataway
Event location
Hong Kong
Event date
May 31, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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