Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments

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...

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Main Authors: Dongyang Bie, Yulin Wang, Yu Zhang, Che Liu, Jie zhao, Yanhe Zhu
Format: Article
Language:English
Published: SAGE Publishing 2018-02-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881418754477
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spelling doaj-b007b50595744d4493af39c4a054fdcd2020-11-25T03:17:35ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142018-02-011510.1177/1729881418754477Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environmentsDongyang Bie0Yulin Wang1Yu Zhang2Che Liu3Jie zhao4Yanhe Zhu5 State Key Laboratory of Robotics and System, Harbin Institute of Technology, Haerbin, Heilongjiang Province, People’s Republic of China State Key Laboratory of Robotics and System, Harbin Institute of Technology, Haerbin, Heilongjiang Province, People’s Republic of China State Key Laboratory of Robotics and System, Harbin Institute of Technology, Haerbin, Heilongjiang Province, People’s Republic of China Engineering Science, University of Toronto, Toronto, ON, Canada State Key Laboratory of Robotics and System, Harbin Institute of Technology, Haerbin, Heilongjiang Province, People’s Republic of China State Key Laboratory of Robotics and System, Harbin Institute of Technology, Haerbin, Heilongjiang Province, People’s Republic of ChinaSelf-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.https://doi.org/10.1177/1729881418754477
collection DOAJ
language English
format Article
sources DOAJ
author Dongyang Bie
Yulin Wang
Yu Zhang
Che Liu
Jie zhao
Yanhe Zhu
spellingShingle Dongyang Bie
Yulin Wang
Yu Zhang
Che Liu
Jie zhao
Yanhe Zhu
Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments
International Journal of Advanced Robotic Systems
author_facet Dongyang Bie
Yulin Wang
Yu Zhang
Che Liu
Jie zhao
Yanhe Zhu
author_sort Dongyang Bie
title Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments
title_short Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments
title_full Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments
title_fullStr Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments
title_full_unstemmed Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments
title_sort parametric l-systems-based modeling self-reconfiguration of modular robots in obstacle environments
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2018-02-01
description 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.
url https://doi.org/10.1177/1729881418754477
work_keys_str_mv AT dongyangbie parametriclsystemsbasedmodelingselfreconfigurationofmodularrobotsinobstacleenvironments
AT yulinwang parametriclsystemsbasedmodelingselfreconfigurationofmodularrobotsinobstacleenvironments
AT yuzhang parametriclsystemsbasedmodelingselfreconfigurationofmodularrobotsinobstacleenvironments
AT cheliu parametriclsystemsbasedmodelingselfreconfigurationofmodularrobotsinobstacleenvironments
AT jiezhao parametriclsystemsbasedmodelingselfreconfigurationofmodularrobotsinobstacleenvironments
AT yanhezhu parametriclsystemsbasedmodelingselfreconfigurationofmodularrobotsinobstacleenvironments
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