Connectivity planning for closed-chain reconfiguration

Mark H. Yim; David Goldberg; Arancha Casal

doi:10.1117/12.403738

16 October 2000 Connectivity planning for closed-chain reconfiguration

Mark H. Yim, David Goldberg, Arancha Casal

Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403738
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

Modular reconfigurable robots can change their connectivity from one arrangement to another. Performing this change involves a difficult planning problem. We study this problem by representing robot configurations as graphs, and giving an algorithm that can transform any configuration of a robot into any other in O (log n) steps. Here n is the number of modules which can attach to more than two other modules. We also show that O(log n) is best possible.

Citation Download Citation

Mark H. Yim, David Goldberg, and Arancha Casal "Connectivity planning for closed-chain reconfiguration", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403738

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