A Distributed Self-Reconfiguration Algorithm for Cylindrical Lattice-Based Modular Robots
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | A Distributed Self-Reconfiguration Algorithm for Cylindrical Lattice-Based Modular Robots |
| Type de publication | Conference Paper |
| Year of Publication | 2016 |
| Auteurs | Naz A, Piranda B, Bourgeois J, Goldstein SCopen |
| Editor | Pellegrini A, GkoulalasDivanis A, DiSanzo P, Avresky DR |
| Conference Name | 15TH IEEE INTERNATIONAL SYMPOSIUM ON NETWORK COMPUTING AND APPLICATIONS (IEEE NCA 2016) |
| Publisher | IEEE; IEEE Comp Soc Tech Comm Distributed Proc; Akamai Technologies Inc; Int Res Inst Autonom Network Comp; IEEE Comp Soc |
| Conference Location | 345 E 47TH ST, NEW YORK, NY 10017 USA |
| ISBN Number | 978-1-5090-3216-7 |
| Mots-clés | Distributed algorithm, Ensembles, Modular robotic, programmable matter, Self-reconfiguration algorithm |
| Résumé | Modular self-reconfigurable robots are composed of independent connected modules which can self-rearrange their connectivity using processing, communication and motion capabilities, in order to change the overall robot structure. In this paper, we consider rolling cylindrical modules arranged in a two-dimensional vertical hexagonal lattice. We propose a parallel, asynchronous and fully decentralized distributed algorithm to self-reconfigure robots from an initial configuration to a goal one. We evaluate our algorithm on the millimeter-scale cylindrical robots, developed in the Claytronics project, through simulation of large ensembles composed of up to ten thousand modules. We show the effectiveness of our algorithm and study its performance in terms of communications, movements and execution time. Our observations indicate that the number of communications, the number of movements and the execution time of our algorithm is highly predictable. Furthermore, we observe execution times that are linear in the size of the goal shape. |