ICRA 2011 Paper Abstract

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Paper ThA112.5

Miao, Yizhou (Zhejiang University), yan, gangfeng (Zhejiang University), Lin, Zhiyun (Zhejiang University)

A Distributed Reconfiguration Strategy for Target Enveloping with Hexagonal Metamorphic Modules

Scheduled for presentation during the Regular Sessions "Distributed Robot Systems III" (ThA112), Thursday, May 12, 2011, 09:20−09:35, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on May 22, 2019

Keywords Cellular and Modular Robots, Distributed Robot Systems

Abstract

The paper studies the problem of a group of hexagonal-shaped metamorphic modules enveloping a static one-cell target. A distributed reconfiguration strategy is proposed for each module to achieve the objective. The strategy guarantees that the system successfully evolves without collisions despite of the absence of centralized planning and global information exchange. The correctness of the algorithm is verified theoretically. An upper-bound of converging time based on the proposed algorithm is provided as well. Simulations well validate the results we obtain.

 

 

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