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Hierarchical Motion Planning for Self-reconfigurable Modular Robots

 

In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Preethi Srinivas Bhat, James Kuffner, Seth Copen Goldstein, and Siddhartha S. Srinivasa

October, 2006

Abstract


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@inproceedings{bhat06,
  author = {Bhat, Preethi Srinivas and Kuffner, James and Goldstein,
     Seth Copen and Srinivasa, Siddhartha S.},
  title = {Hierarchical Motion Planning for Self-reconfigurable
     Modular Robots},
  booktitle = {2006 IEEE/RSJ International Conference on Intelligent
     Robots and Systems (IROS)},
  venue = {IEEE/RSJ International Conference on Intelligent Robots and
     Systems (IROS)},
  year = {2006},
  month = {October},
  keywords = {Planning, Controlling Ensembles, Hierarchical
     Algorithms},
  url = {http://www.cs.cmu.edu/~claytronics/papers/bhat06.pdf},
  abstract = {Motion planning for a self-reconfigurable robot involves
     coordinating the movement and connectivity of each of its
     homogeneous modules. Reconfiguration occurs when the shape of the
     robot changes from some initial configuration to a target
     configuration. Finding an optimal solution to reconfiguration
     problems involves searching the space of possible robot
     configurations. As this space grows exponentially with the number
     of modules, optimal planning becomes intractable. We propose a
     hierarchical planning approach that computes heuristic global
     reconfiguration strategies efficiently. Our approach consists of
     a base planner that computes an optimal solution for a few
     modules and a hierarchical planner that calls this base planner
     or reuses pre-computed plans at each level of the hierarchy to
     ultimately compute a global suboptimal solution. We present
     results from a prototype implementation of the method that
     efficiently plans for self-reconfigurable robots with several
     thousand modules.We also discuss tradeoffs and performance issues
     including scalability, heuristics and plan optimality.},
}

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