Introduction to algorithms
Stochastic Well-Formed Colored Nets and Symmetric Modeling Applications
IEEE Transactions on Computers
Lectures on Petri Nets I: Basic Models, Advances in Petri Nets, the volumes are based on the Advanced Course on Petri Nets
Symmetry Reductions inModel Checking
CAV '98 Proceedings of the 10th International Conference on Computer Aided Verification
Model-Based Programming of Modular Robots
ISORC '10 Proceedings of the 2010 13th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing
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Modular and self-reconfigurable robots are a powerful way to design versatile systems that can adapt themselves to different physical environment conditions. Self-reconfiguration is not an easy task since there are numerous possibilities of module organization. Moreover, some module organizations are equivalent one to another. In this paper, we apply symbolic representation techniques from model checking to provide an optimized representation of all configurations for a modular robot. The proposed approach captures symmetries of the system and avoids storing all the equivalences generated by permuting modules, for a given configuration. From this representation, we can generate a compact symbolic configuration space and use it to efficiently compute the moves required for self-reconfiguration (i.e. going from one configuration to another). A prototype implementation is used to provide some benchmarks showing promising results.