Journal
AUTONOMOUS ROBOTS
Volume 42, Issue 7, Pages 1337-1354Publisher
SPRINGER
DOI: 10.1007/s10514-018-9738-1
Keywords
Modular robots; Formal methods; Controller synthesis; Reactive mission planning
Funding
- NSF [CNS-1329620, CNS-1329692]
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The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this paper, we present an integrated system for addressing high-level tasks with modular robots, and demonstrate that it is capable of accomplishing challenging, multi-part tasks in hardware experiments. The system consists of four tightly integrated components: (1) a high-level mission planner, (2) a large design library spanning a wide set of functionality, (3) a design and simulation tool for populating the library with new configurations and behaviors, and (4) modular robot hardware. This paper builds on earlier work by Jing et al. (in: Robotics: science and systems, 2016), extending the original system to include environmentally adaptive parametric behaviors, which integrate motion planners and feedback controllers with the system.
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