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Graph signature for self-reconfiguration planning of modules with symmetry

2010

Conference Paper

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In our previous works we had developed a framework for self-reconfiguration planning based on graph signature and graph edit-distance. The graph signature is a fast isomorphism test between different configurations and the graph edit-distance is a similarity metric. But the algorithm is not suitable for modules with symmetry. In this paper we improve the algorithm in order to deal with symmetric modules. Also, we present a new heuristic function to guide the search strategy by penalizing the solutions with more number of actions. The simulation results show the new algorithm not only deals with symmetric modules successfully but also finds better solutions in a shorter time.

Author(s): Asadpour, Masoud and Ashtiani, Mohammad Hassan Zokaei and Spröwitz, Alexander and Ijspeert, Auke Jan
Book Title: Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages: 5295--5300
Year: 2010
Publisher: IEEE

Department(s): Dynamic Locomotion
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/IROS.2009.5353943

Address: St. Louis, MO

BibTex

@inproceedings{escidoc:2316388,
  title = {Graph signature for self-reconfiguration planning of modules with symmetry},
  author = {Asadpour, Masoud and Ashtiani, Mohammad Hassan Zokaei and Spr{\"o}witz, Alexander and Ijspeert, Auke Jan},
  booktitle = {Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages = {5295--5300},
  publisher = {IEEE},
  address = {St. Louis, MO},
  year = {2010}
}