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Conference Paper: Distributed algorithms for shape sculpting of lattice-arrayed modular robots via hole motion

TitleDistributed algorithms for shape sculpting of lattice-arrayed modular robots via hole motion
International Conference on Control and Automation
Authors
Issue Date2013
PublisherI E E E. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000167
Citation
The 10th IEEE International Conference on Control & Automation (ICCA 2013), Hangzhou, China, 12-14 June 2013. In The 2013 10th IEEE International Conference on Control and Automation (ICCA), 2013, p. 135-140 How to Cite?
AbstractA self-reconfigurable modular robot can change its own shape by rearranging the connectivity of the modules of which it is composed. In this paper, we focus on a two-dimensional lattice-arrayed self-reconfigurable modular robotic system. Each module can move to a neighboring lattice under certain motion constraints, communicate with its neighbors and act upon local knowledge only. A scalable shape sculpting algorithm based on the manipulation of regularly shaped voids within the lattice (“holes”) is given. We present detailed solutions to the conflict test and settlement problem encountered when applying this algorithm, and make improvement on the efficiency of shape sculpting. We believe that the algorithm can potentially generalize to 3D and scale to handle millions of modules.
Persistent Identifierhttp://hdl.handle.net/10722/189988
ISBN

 

DC FieldValueLanguage
dc.contributor.authorZhu, Jen_US
dc.contributor.authorChen, MZen_US
dc.contributor.authorSu, Hen_US
dc.date.accessioned2013-09-17T15:04:30Z-
dc.date.available2013-09-17T15:04:30Z-
dc.date.issued2013en_US
dc.identifier.citationThe 10th IEEE International Conference on Control & Automation (ICCA 2013), Hangzhou, China, 12-14 June 2013. In The 2013 10th IEEE International Conference on Control and Automation (ICCA), 2013, p. 135-140en_US
dc.identifier.isbn9781467347075-
dc.identifier.urihttp://hdl.handle.net/10722/189988-
dc.description.abstractA self-reconfigurable modular robot can change its own shape by rearranging the connectivity of the modules of which it is composed. In this paper, we focus on a two-dimensional lattice-arrayed self-reconfigurable modular robotic system. Each module can move to a neighboring lattice under certain motion constraints, communicate with its neighbors and act upon local knowledge only. A scalable shape sculpting algorithm based on the manipulation of regularly shaped voids within the lattice (“holes”) is given. We present detailed solutions to the conflict test and settlement problem encountered when applying this algorithm, and make improvement on the efficiency of shape sculpting. We believe that the algorithm can potentially generalize to 3D and scale to handle millions of modules.-
dc.languageengen_US
dc.publisherI E E E. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000167-
dc.relation.ispartofInternational Conference on Control and Automationen_US
dc.rightsInternational Conference on Control and Automation. Copyright © I E E E.-
dc.rights©2013 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.-
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.titleDistributed algorithms for shape sculpting of lattice-arrayed modular robots via hole motionen_US
dc.titleInternational Conference on Control and Automation-
dc.typeConference_Paperen_US
dc.identifier.emailChen, MZ: mzqchen@hku.hken_US
dc.identifier.authorityChen, MZ=rp01317en_US
dc.description.naturepublished_or_final_version-
dc.identifier.doi10.1109/ICCA.2013.6565147-
dc.identifier.scopuseid_2-s2.0-84882369816-
dc.identifier.hkuros221523en_US
dc.identifier.spage135en_US
dc.identifier.epage140en_US
dc.publisher.placeUnited Statesen_US

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