Graph signature for self-reconfiguration planning of modules with symmetry

Authors:
Masoud Asadpour;Mohammad Hassan Zokaei Ashtiani;Alexander Sproewitz;Auke Ijspeert
Affiliations:
Control and Intelligent Processing Center of Excellence, ECE Dept., University of Tehran, Iran;Control and Intelligent Processing Center of Excellence, ECE Dept., University of Tehran, Iran;Echole Polytechnic Federal de Lausanne, Switzerland;Echole Polytechnic Federal de Lausanne, Switzerland
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

In our previous works we had developed a framework for self-reconfiguration planning based on graph signature and graph edit-distance. The graph signature is a fast isomorphism test between different configurations and the graph edit-distance is a similarity metric. But the algorithm is not suitable for modules with symmetry. In this paper we improve the algorithm in order to deal with symmetric modules. Also, we present a new heuristic function to guide the search strategy by penalizing the solutions with more number of actions. The simulation results show the new algorithm not only deals with symmetric modules successfully but also finds better solutions in a shorter time.