Distributed Goal Recognition Algorithms for Modular Robots

Modular robots are systems composed of a number of independent units that can be reconfigured to fit the task at hand. When the modules are computationally independent, they form a large distributed system with no central controller. We are concerned with the ability of such modular robots to easily recognize the achievement (or lack thereof) of a given goal configuration. We present algorithms for a class of 2D and 3D modular robots, along with correctness and running time analysis. We have successfully implemented the 2D algorithm on the second-generation Crystalline Atomic robot, a self-reconfigurable modular robot under development in our laboratory and we present implementation details and experimental results.

Authors

• Zack J. Butler
• Robert Fitch
• Daniela Rus
• Yuhang Wang

Keywords

• Robot kinematics
• Shape
• Centralized control
• Computer science
• Educational institutions
• Crystallization
• Robustness
• Hardware
• Distributed algorithms
• Algorithm For Robots
• Modular Robots
• Goal Recognition
• Distribution System
• Perimeter
• Specific Modifications
• Binary Matrix
• Distributed Algorithm
• Space Requirements
• Target Shape
• Breadth-first Search
• Attitude Matrix
• Digital Sensor
• Sensor Inputs
• Serial Interface
• 3D Version
• Neighboring Units
• Inchworm
• Crystallization Robot
• 2D Version
• 3D Robot