A Multi-Layered Planner for Self-Reconfiguration of a Uniform Group of I-Cube Modules (2001)
by
Cem Ünsal
,
Pradeep K. Khosla
| Citations: | 13 - 2 self |
BibTeX
@MISC{Ünsal01amulti-layered,
author = {Cem Ünsal and Pradeep K. Khosla},
title = {A Multi-Layered Planner for Self-Reconfiguration of a Uniform Group of I-Cube Modules},
year = {2001}
}
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Abstract
In this paper, we present a multi-layered planner for the motion of modules in a uniform group of I-Cube selfreconfiguring modular robotic system. The planner uses metacubes, the high-level abstraction of 8C16L groups. It combines distributed approaches at the high-level with lowlevel trajectory computation for the actual modules which can be completed in O(n) steps where n is the number of the cubes in the system, and pre-defined rules for link motions.
