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Graph signature for self-reconfiguration planning

2008

Conference Paper

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This project incorporates modular robots as build- ing blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection / disconnection of modules and rotations of the degrees of freedom. This paper introduces a new approach to self-reconfiguration planning for modular robots based on the graph signature and the graph edit-distance. The method has been tested in simulation on two type of modules: YaMoR and M-TRAN. The simulation results shows interesting features of the approach, namely rapidly finding a near-optimal solution.

Author(s): Asadpour, Masoud and Spröwitz, Alexander and Billard, Aude and Dillenbourg, Pierre and Ijspeert, Auke Jan
Book Title: Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages: 863--869
Year: 2008
Publisher: IEEE

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

DOI: 10.1109/IROS.2008.4650673

Address: Nice

BibTex

@inproceedings{escidoc:2316391,
  title = {Graph signature for self-reconfiguration planning},
  author = {Asadpour, Masoud and Spr{\"o}witz, Alexander and Billard, Aude and Dillenbourg, Pierre and Ijspeert, Auke Jan},
  booktitle = {Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages = {863--869},
  publisher = {IEEE},
  address = {Nice},
  year = {2008}
}