NDLI: On the complexity of optimal reconfiguration planning for modular reconfigurable robots

Content Provider	IEEE Xplore Digital Library
Author	Feili Hou Wei-Min Shen
Copyright Year	2010
Description	Author affiliation: Information Sciences Institute, University of Southern California, 4676 Admiralty Way, Suite 1001, Marina del Rey, 90292,USA (Feili Hou; Wei-Min Shen)
Abstract	This paper presents a thorough analysis of the computational complexity of optimal reconfiguration planning problem for chain-type modular robots, i.e. finding the least number of reconfiguration steps to transform from the initial configuration into the goal configuration. It establishes a formal proof that this problem is NP-complete, even if the configurations are acyclic. This result gives a compelling reason that a polynomial algorithm for optimal reconfiguration plan is unlikely to exist. To facilitate future evaluation of reconfiguration algorithms, the paper also provides the lower and the upper bounds for the minimum number of reconfiguration steps for any given reconfiguration problem.
Starting Page	2791
Ending Page	2796
File Size	438079
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509642
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotics and automation Polynomials Mobile robots Computational complexity Upper bound USA Councils Costs Concrete Wheels Shape
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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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