Distributed motion planning for modular robots with unit-compressible modules

The ability of self-reconfigurable robots to solve a variety of robot tasks comes in part from their use of a large number of modules. Effective use of these systems requires parallel actuation and planning, both for efficiency and independence from a central controller. This paper presents the PacMan algorithm, a technique for distributed actuation and planning. This algorithm was developed for systems with unit-compressible modules, such as the crystalline robot. We also describe some analytical properties of the PacMan planning and actuation, and discuss simulation and hardware experiments.

Authors

• Zack J. Butler
• Sean Byrnes
• Daniela Rus

Keywords

• Motion planning
• Centralized control
• Crystallization
• Control systems
• Parallel robots
• Legged locomotion
• Robotics and automation
• Shape control
• Computer science
• Educational institutions
• Path Planning
• Modular Robots
• Stem Cells
• Actuator
• Single Atom
• Deadlock
• Current Simulation
• Distributed Algorithm
• Distributed Fashion
• Path Segment
• Crystal Edges
• Target Atoms
• Core Edge