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Proceedings Paper

Connectivity planning for closed-chain reconfiguration
Author(s): Mark H. Yim; David Goldberg; Arancha Casal
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Paper Abstract

Modular reconfigurable robots can change their connectivity from one arrangement to another. Performing this change involves a difficult planning problem. We study this problem by representing robot configurations as graphs, and giving an algorithm that can transform any configuration of a robot into any other in O (log n) steps. Here n is the number of modules which can attach to more than two other modules. We also show that O(log n) is best possible.

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: 10.1117/12.403738
Show Author Affiliations
Mark H. Yim, Xerox Palo Alto Research Ctr. (United States)
David Goldberg, Xerox Palo Alto Research Ctr. (United States)
Arancha Casal, Xerox Palo Alto Research Ctr. and Stanford Univ. (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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