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Proceedings Paper

Scalable parallel algorithm for configuration planning for self-reconfiguring robots
Author(s): Keith D. Kotay; Daniela L. Rus
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Paper Abstract

In this paper we present algorithms for planning the motion of robotic Molecules on a substrate of other Molecules. Our approach is to divide self-reconfiguration planning into three levels: trajectory planning, configuration planning, and task-level planning. This paper focuses on algorithms for configuration planning, moving a set of Molecules from a starting configuration to a goal configuration. We describe our scaffold planning approach in which the interior of a structure contains 3D tunnels. This allows Molecules to move within a structure as well as on the surface, simplifying Molecule motion planning as well as increasing parallelism. In addition, we present a new gripper-type connection mechanism for the Molecule which does not require power to maintain connections.

Paper Details

Date Published: 16 October 2000
PDF: 11 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403736
Show Author Affiliations
Keith D. Kotay, Dartmouth College (United States)
Daniela L. Rus, Dartmouth College (United States)


Published in SPIE Proceedings Vol. 4196:
Sensor Fusion and Decentralized Control in Robotic Systems III
Gerard T. McKee; Paul S. Schenker, Editor(s)

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