Programming for modular reconfigurable robots / Gorbenko A. A.,Popov V. Yu. // PROGRAMMING AND COMPUTER SOFTWARE. - 2012. - V. 38, l. 1. - P. 13-23.

ISSN/EISSN:

0361-7688 / 1608-3261

Type:

Article

Abstract:

Composed of multiple modular robotic units, self-reconfigurable modular robots are metamorphic systems that can autonomously rearrange the modules and form different configurations depending on dynamic environments and tasks. The goal of self-reconfiguration is to determine how to change connectivity of modules to transform the robot from the current configuration to the goal configuration subject to restrictions of physical implementation. The existing reconfiguration algorithms use different methods, such as divide-and-conquer, graph matching, and the like, to reduce the reconfiguration cost. However, an optimal solution with a minimal number of reconfiguration steps has not been found yet. The optimal reconfiguration planning problem consists in finding the least number of reconfiguration steps transforming the robot from one configuration to another. This is an NP-complete problem. In this paper, we describe an approach to solve this problem. The approach is based on constructing logical models of the problem under study.

Author keywords:

SELF-RECONFIGURATION; SATISFIABILITY; ALGORITHMS; COMPLEXITY; SEARCH; MOTION; SYSTEM

DOI:

10.1134/S0361768812010033

Web of Science ID:

ISI:000300246500002

Соавторы в МНС:

Другие поля

Поле	Значение
Month	JAN
Publisher	MAIK NAUKA/INTERPERIODICA/SPRINGER
Address	233 SPRING ST, NEW YORK, NY 10013-1578 USA
Language	English
EISSN	1608-3261
Keywords-Plus	SELF-RECONFIGURATION; SATISFIABILITY; ALGORITHMS; COMPLEXITY; SEARCH; MOTION; SYSTEM
Research-Areas	Computer Science
Web-of-Science-Categories	Computer Science, Software Engineering
Author-Email	gorbenko.aa@gmail.com Vladimir.Popov@usu.ru
ResearcherID-Numbers	Popov, Vladimir/J-1440-2012 Gorbenko, Anna/M-6421-2016 Popov, Vladimir/C-9868-2015
ORCID-Numbers	Gorbenko, Anna/0000-0001-9777-7294 Popov, Vladimir/0000-0001-9671-681X
Funding-Acknowledgement	Russian Federation {[}MD-1687.2008.9]; Analytical Departmental Program ``Development of the scientific potential of higher school {[}2.1.1/1775]
Funding-Text	This work was partially supported by Russian Federation Presidential Grant, project no. MD-1687.2008.9 and by Analytical Departmental Program ``Development of the scientific potential of higher school,{''} project no. 2.1.1/1775.
Number-of-Cited-References	105
Usage-Count-Last-180-days	2
Usage-Count-Since-2013	38
Journal-ISO	Program. Comput. Softw.
Doc-Delivery-Number	891WC