NDLI: Automated planning as a new approach for the self-reconfiguration of mobile modular robots

Content Provider	IEEE Xplore Digital Library
Author	Bihlmaier, A. Winkler, L. Worn, H.
Copyright Year	2013
Description	Author affiliation: Inst. for Process Control & Robot, Karlsruhe Inst. of Technol. - KIT, Karlsruhe, Germany (Bihlmaier, A.; Winkler, L.; Worn, H.)
Abstract	We present a new approach to the solution of the self-reconfiguration problem for mobile modular robots (MMRs). The solution describes self-reconfiguration as a planning problem that can be tackled by an automated planner. In addition to the usage of the advanced domain-independent search heuristics within the planner, we introduce domain-specific heuristics into the domain description on a higher conceptual level. An explicit optimality measure is part of the given domain description. The planner can cope with difficult self-reconfigurations, e.g. involving building helper organisms. The abstract symbolic plan is executed by a behavior based robot controller, where each robot is seen as an agent that has access to local information only. The position which a robot takes in the final configuration is determined by swarm mechanisms during runtime. A coordination instance broadly monitors the self-reconfiguration. The feasibility and advantages of this approach compared to previous work on self-reconfiguration of MMRs is shown by planning and executing self-reconfiguration in simulation for several organism families with different reconfiguration complexities.
Starting Page	60
Ending Page	65
File Size	761770
Page Count	6
File Format	PDF
e-ISBN	9781467355117
DOI	10.1109/RoMoCo.2013.6614585
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-07-03
Publisher Place	Poland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Organisms Robot kinematics Planning Robot sensing systems Grammar Mobile communication
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
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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