NDLI: A fluid dynamics approach for self-reconfiguration planning of modular robots

Content Provider	IEEE Xplore Digital Library
Author	Masehian, E. Ahmadzadeh, H.
Copyright Year	2015
Description	Author affiliation: Fac. of Eng., Tarbiat Modares Univ., Tehran, Iran (Masehian, E.; Ahmadzadeh, H.)
Abstract	Modular Robotic Systems (MRS) are arrays of interconnected simple robots which can change their morphology in order to perform various tasks. In modular robotics, Self-Reconfiguration Planning (SRP) is the problem of finding a sequence of module-level actions to transform an MRS from an initial configuration into a goal configuration considering modules' kinematic constraints. SRP is very challenging problem as its solution approaches have to deal with exponential growth of configuration space, preserve connectedness of modular robot structure, and avoid deadlock configurations. SRP is proved to be NP-Complete and thus its solution methods generally suffer from limited scalability. In this paper, we introduce a novel approach for solving SRP inspired from the behavior of incompressible fluids in assuming shape of containers. Our approach formulates a given SRP problem as virtual casting model called Corresponding Casting Model (CCM) in which modules (as fluid cells) flow and fill a virtual mold analogous to the goal configuration. We also propose an SRP planning engine called Incompressible Fluid Flow (IFF) engine which computationally solves the CCM model and generates SRP plans. The proposed approach is independent from configuration space, and does not require explicit connectivity checking of modules. As it is shown and verified by the complexity analysis and simulation results, the proposed IFF engine can solve an SRP problem in O(n) time and thus is highly scalable to SRP problems with many modules.
Starting Page	139
Ending Page	145
File Size	1028969
Page Count	7
File Format	PDF
e-ISBN	9781467372343
DOI	10.1109/ICRoM.2015.7367774
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-07
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Casting Modular Robots Fluid Dynamics Fluid dynamics Self-Reconfiguration Planning Solids Planning Robots Flow
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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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