Empirical methods for artificial intelligence
Empirical methods for artificial intelligence
Directed diffusion: a scalable and robust communication paradigm for sensor networks
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Distributed Control for 3D Metamorphosis
Autonomous Robots
Motion Planning for a Self-Reconfigurable Modular Robot
ISER '00 Experimental Robotics VII
Computer
Design of the ATRON lattice-based self-reconfigurable robot
Autonomous Robots
Principles of a reversible programming language
Proceedings of the 5th conference on Computing frontiers
Implementing Flexible Parallelism for Modular Self-reconfigurable Robots
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
A virtual machine-based approach for fast and flexible reprogramming of modular robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Graph signature for self-reconfiguration planning of modules with symmetry
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Programming language abstractions for self-reconfigurable robots
Proceedings of the 3rd annual conference on Systems, programming, and applications: software for humanity
Robotics and Autonomous Systems
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Modular, self-reconfigurable robots are robotic systems that can change their own shape by autonomously rearranging the physical modules from which they are built. In this work, we are interested in how to distributedly execute a specified self-reconfiguration sequence. The sequence is specified using a simple and centralized scripting language, which either could be the outcome of a planner or be hand-coded. The distributed controller generated from this language allows for parallel self-reconfiguration steps and is highly robust to communication errors and loss of local state due to software failures. Furthermore, the self-reconfiguration sequence can automatically be reversed, if desired. We verify our approach and demonstrate its robustness in experiments using physical and the simulated ATRON modules, as well as simulated M-TRAN modules. Overall, the contribution of this work is the combination of the tractability of a centralized scripting language with the robustness and parallelism of distributed controllers in modular robots.