Author name cluster

Peter Lee 0001

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5 papers

1 author row

IROS Conference 2009 Conference Paper

A tale of two planners: Modular robotic planning with LDP

Michael DeRosa
Seth Copen Goldstein
Peter Lee 0001
Padmanabhan Pillai
Jason Campbell

LDP (Locally Distributed Predicates) is a distributed, high-level language for programming modular reconfigurable robot systems (MRRs). In this paper we present the implementation of two motion-planning algorithms in LDP, and analyze both their performance and ease of implementation. We present multiple variations of one planner, including a novel resource allocation algorithm. We then draw conclusions about both the utility of the motion-planning algorithms and the suitability of LDP to the problem space. Our experiments suggest that metamodule-based planning approaches have a cost in time and/or energy terms, but that the cost can be worth paying in exchange for the additional generality and separation-of-concerns offered by these techniques. The particular tradeoff for a given system will depend upon its goals and the details of the underlying modules.

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ICRA Conference 2008 Conference Paper

Programming modular robots with locally distributed predicates

Michael DeRosa
Seth Copen Goldstein
Peter Lee 0001
Padmanabhan Pillai
Jason Campbell

We present a high-level language for programming modular robotic systems, based on locally distributed predicates (LDP), which are distributed conditions that hold for a connected subensemble of the robotic system. An LDP program is a collection of LDPs with associated actions which are triggered on any subensemble that matches the predicate. The result is a reactive programming language which efficiently and concisely supports ensemble-level programming. We demonstrate the utility of LDP by implementing three common, but diverse, modular robotic tasks.

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ICRA Conference 2007 Conference Paper

Distributed Watchpoints: Debugging Large Multi-Robot Systems

Michael DeRosa
Jason Campbell
Padmanabhan Pillai
Seth Copen Goldstein
Peter Lee 0001
Todd C. Mowry

Tightly-coupled multi-agent systems such as modular robots frequently exhibit properties of interest that span multiple modules. These properties cannot easily be detected from any single module, though they might readily be detected by combining the knowledge of multiple modules. Testing for distributed conditions is especially important in debugging or verifying the correctness of software for modular robots. We have developed a technique we call distributed watchpoint triggers which can efficiently recognize such distributed conditions. Our watchpoint description language can handle a variety of temporal, spatial, and logical properties spanning multiple robots. This paper presents that language, describes our fully-distributed, online mechanism for detecting distributed conditions in a running system, and evaluates the performance of our implementation. We found that the performance of the system is highly dependent on the program being debugged, scales linearly with ensemble size, and is small enough to make the system practical in all but the worst case scenarios

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IROS Conference 2007 Conference Paper

Meld: A declarative approach to programming ensembles

Michael P. Ashley-Rollman
Seth Copen Goldstein
Peter Lee 0001
Todd C. Mowry
Padmanabhan Pillai

This paper presents Meld, a programming language for modular robots, i. e. , for independently executing robots where inter-robot communication is limited to immediate neighbors. Meld is a declarative language, based on P2, a logicprogramming language originally designed for programming overlay networks. By using logic programming, the code for an ensemble of robots can be written from a global perspective, as opposed to a large collection of independent robot views. This greatly simplifies the thought process needed for programming large ensembles. Initial experience shows that this also leads to a considerable reduction in code size and complexity. An initial implementation of Meld has been completed and has been used to demonstrate its effectiveness in the Claytronics simulator. Early results indicate that Meld programs are considerably more concise (more than 20× shorter) than programs written in C++, while running nearly as efficiently.

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ICRA Conference 2006 Conference Paper

Scalable Shape Sculpting via Hole Motion: Motion Planning in Lattice-constrained Modular Robots

Michael DeRosa
Seth Copen Goldstein
Peter Lee 0001
Jason Campbell
Padmanabhan Pillai

We describe a novel shape formation algorithm for ensembles of 2-dimensional lattice-arrayed modular robots, based on the manipulation of regularly shaped voids within the lattice ("holes"). The algorithm is massively parallel and fully distributed. Constructing a goal shape requires time proportional only to the complexity of the desired target geometry. Construction of the shape by the modules requires no global communication nor broadcast floods after distribution of the target shape. Results in simulation show 97. 3% shape compliance in ensembles of approximately 60, 000 modules, and we believe that the algorithm will generalize to 3D and scale to handle millions of modules

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