Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments
Self-reconfiguration of modular self-reconfigurable robots is a fundamental function that can be used as part of higher-level functionality. Interaction with the environment is a key factor affecting the self-reconfiguration process of modular robots. In this article, a modeling framework that makes...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-02-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881418754477 |
| Summary: | Self-reconfiguration of modular self-reconfigurable robots is a fundamental function that can be used as part of higher-level functionality. Interaction with the environment is a key factor affecting the self-reconfiguration process of modular robots. In this article, a modeling framework that makes it possible to simulate and visualize the interactions at the level of decentralized modules will be introduced. The framework extends the formalism of Lindenmayer systems (L-systems) with constructs needed to model robotic information exchanged between decentralized modules and their surrounding environments. Both the construction of target configurations and environmental sensitive adaption can be handled by extending L-system symbols and reproduction rules. The proposed method is illustrated with simulations capturing the development of branching structures while adapting to environmental obstacles. |
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| ISSN: | 1729-8814 |