Complete heterogeneous self-reconfiguration: Deadlock avoidance using hole-free assemblies

Daniel Pickem, Magnus Egerstedt, Jeff S. Shamma

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

In this paper, we present a novel approach for heterogeneous self-reconfiguration of a modular robot comprised of heterogeneous cubic modules. We allow an arbitrary number of modules and module classes and show that the proposed self-reconfiguration algorithm can guarantee completion of heterogeneous self-reconfigurations by avoiding so-called hole obstructions. We introduce a hole-detection algorithm to avoid creating holes in connected sets of modules (furthermore called configuration) and an assignment resolution algorithm that prevents deadlocks. Using these algorithms, we show that this approach yields provably successful reconfiguration sequences from any heterogeneous initial configuration to any heterogeneous target configuration as long as the initial and the target configuration are hole and enclosure-free.

Original languageEnglish (US)
Title of host publication4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2013 - Proceedings
Pages404-410
Number of pages7
EditionPART 1
DOIs
StatePublished - Nov 1 2013
Event4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2013 - Koblenz, Germany
Duration: Sep 25 2013Sep 26 2013

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume4
ISSN (Print)1474-6670

Other

Other4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2013
CountryGermany
CityKoblenz
Period09/25/1309/26/13

ASJC Scopus subject areas

  • Control and Systems Engineering

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