The self-reconfiguring robotic molecule: design and control algorithms
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Opportunities for actuated tangible interfaces to improve protein study
CHI '09 Extended Abstracts on Human Factors in Computing Systems
Dynamic Rolling for a Modular Loop Robot
International Journal of Robotics Research
Control of locomotion with shape-changing wheels
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Learning sound location from a single microphone
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
On the efficiency of local and global communication in modular robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Towards Small Robot Aided Victim Manipulation
Journal of Intelligent and Robotic Systems
Modular and reconfigurable mobile robotics
Robotics and Autonomous Systems
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Recognizing useful modular robot configurations composed of hundreds of modules is a significant challenge. Matching a new modular robot configuration to a library of known configurations is essential in identifying and applying control schemes. We present three different algorithms to address the problem of (a) matching and (b) mapping new robot configurations onto a library of known configurations. The first method solves the problem using graph isomorphisms and can identify configurations that share the same underlying graph structure, but have different port connections amongst the modules. The second approach compares graph spectra of configuration matrices to find a permutation matrix that maps a given configuration to a known one. The third algorithm exploits the unique structure of the problem for the particular robots used in our research to achieve impressive gains in performance and speed over existing techniques, especially for larger configurations. With these three algorithms, this paper presents novel solutions to the problem of configuration recognition and sheds light on theoretical and practical issues for long-term advances in this important area of modular robotics. Results and examples are provided to compare the performance of the three algorithms and discuss their relative advantages.