Tree-Based Reconfiguration of Metamorphic Robots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216224%3A14330%2F24%3A00137370" target="_blank" >RIV/00216224:14330/24:00137370 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1109/IROS58592.2024.10801396" target="_blank" >http://dx.doi.org/10.1109/IROS58592.2024.10801396</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS58592.2024.10801396" target="_blank" >10.1109/IROS58592.2024.10801396</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Tree-Based Reconfiguration of Metamorphic Robots

Popis výsledku v původním jazyce

Metamorphic robots have gained the attention of many researchers due to their ability to change shape and adapt to various tasks. In order to utilize the versatility of metamorphic systems, we need to be able to find a shape-shifting (reconfiguration) plan efficiently; however, finding these plans is challenging due to the high degree of freedom of modular systems. Reconfiguration algorithms proposed so far either scale poorly with a growing number of modules, impose specific restrictions on modules, or produce plans that are unrealistic outside of zero-gravity environments. This paper presents a new approach to the reconfiguration problem of chain-type metamorphic robots. Our algorithm relies on forming tentacles and using them to transport modules, which allows us to search through a reduced state space by computing many smaller planning instances. As a result, we obtain a heuristic solution that is more scalable than optimal planners, while producing realistic plans that impose no specific module requirements.

Název v anglickém jazyce

Tree-Based Reconfiguration of Metamorphic Robots

Popis výsledku anglicky

Metamorphic robots have gained the attention of many researchers due to their ability to change shape and adapt to various tasks. In order to utilize the versatility of metamorphic systems, we need to be able to find a shape-shifting (reconfiguration) plan efficiently; however, finding these plans is challenging due to the high degree of freedom of modular systems. Reconfiguration algorithms proposed so far either scale poorly with a growing number of modules, impose specific restrictions on modules, or produce plans that are unrealistic outside of zero-gravity environments. This paper presents a new approach to the reconfiguration problem of chain-type metamorphic robots. Our algorithm relies on forming tentacles and using them to transport modules, which allows us to search through a reduced state space by computing many smaller planning instances. As a result, we obtain a heuristic solution that is more scalable than optimal planners, while producing realistic plans that impose no specific module requirements.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2024

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

9798350377712

ISSN

2153-0858

e-ISSN

—

Počet stran výsledku

7

Strana od-do

3498-3504

Název nakladatele

IEEE

Místo vydání

Abu Dhabi

Místo konání akce

Abu Dhabi

Datum konání akce

1. 1. 2024

Typ akce podle státní příslušnosti

CST - Celostátní akce

Kód UT WoS článku

001411890000383