NDLI: Stochastic Modular Robotic Systems: A Study of Fluidic Assembly Strategies

Content Provider	IEEE Xplore Digital Library
Author	Tolley, M.T. Kalontarov, M. Neubert, J. Erickson, D. Lipson, H.
Copyright Year	2004
Abstract	Modular robotic systems typically assemble using deterministic processes where modules are directly placed into their target position. By contrast, stochastic modular robots take advantage of ambient environmental energy for the transportation and delivery of robot components to target locations, thus offering potential scalability. The inability to precisely predict component availability and assembly rates is a key challenge for planning in such environments. Here, we describe a computationally efficient simulator to model a modular robotic system that assembles in a stochastic fluid environment. This simulator allows us to address the challenge of planning for stochastic assembly by testing a series of potential strategies. We first calibrate the simulator using both high-fidelity computational fluid-dynamics simulations and physical experiments. We then use this simulator to study the effects of various system parameters and assembly strategies on the speed and accuracy of assembly of topologically different target structures.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	518
Ending Page	530
Page Count	13
File Size	1587420
File Format	PDF
ISSN	15523098
Volume Number	26
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotic assembly Stochastic systems Assembly systems Computational modeling Stochastic processes Robots Transportation Scalability Strategic planning Testing stochastic robotics Biologically inspired robots cellular and modular robots fluidic assembly
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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