NDLI: Autonomous discovery and functional response to topology change in self-reconfigurable robots

Content Provider	IEEE Xplore Digital Library
Author	Salemi, B. Will, P. Wei-Min Shen
Copyright Year	2004
Description	Author affiliation: Dept. of Comput. Sci., Univ. of Southern California, Marina del Rey, CA, USA (Salemi, B.; Will, P.; Wei-Min Shen)
Abstract	The topology of a self-reconfigurable robot can change at anytime. This can be as a result of the failure of some modules of the robot, joining new modules to the robot, displacement of some modules from one location to another caused by the self-reconfiguration task or any combination of these cases. Considering that the process of selecting relevant behaviors to accomplish a given task is based on the current topology of the self-reconfigurable robot, modules must be able to detect and respond to any changes to the robot topology. When changes to the topology of the robot are detected, modules can investigate new ways of accomplishing the given task. This paper presents a distributed solution, FEATURE algorithm, to the problem of autonomous discovery and functional response to topology change. The result is experimentally verified and demonstrated on the CONRO self-reconfigurable robots.
Starting Page	2667
Ending Page	2672
File Size	431748
Page Count	6
File Format	PDF
ISBN	0780384636
DOI	10.1109/IROS.2004.1389811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-28
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Network topology Computer science Orbital robotics Robot sensing systems Change detection algorithms Hardware Shape Sensor systems Actuators
Content Type	Text
Resource Type	Article

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