A Hierarchical Motion Planning Strategy for a Uniform Self-Reconfigurable Modular Robotic System

This paper describes a multi-layered hierarchical motion planning strategy for a class of self-reconfigurable modular robotic systems, I-Cubes. The approach is based on the synthesis of motion on the basis of metacubes, which have a particular structure possessing 8 Cubes and 16 Links. The developed strategy organizes the metacube motions and the corresponding cube-level motions. At the lowest level, link motions are generated. The resulting system is demonstrated to be capable of performing a pre-specified task of moving from one position/shape to another. The paper describes the latest results of our planning strategy through some experimentally justified examples.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Konstantine C. Prevas, Cem Ünsal, Mehmet Önder Efe, Pradeep K. Khosla
• Keywords: Corresponding Cube-level Motions, ICRA 2002, Motion Planning Strategy, Planning Strategy, Robotics