High speed formations of reconfigurable modular robotic systems

Adrian Dumitrescu, Ichiro Suzuki, Masafumi Yamashita

Research output: Contribution to journalConference article

9 Citations (Scopus)

Abstract

In this article we examine the problem of dynamic self-reconfiguration of a modular robotic system (frequently referred to as self-reconfigurable or metamorphic system), to a formation aimed at reaching a specified target position with one of the modules as quickly as possible. We present a number of high speed formations for both rectangular and hexagonal systems, and prove upper and lower bounds on the speed of locomotion. In particular, the formations presented here achieve constant ratio guarantee on the time to reach a given target in the asymptotic sense.

Original languageEnglish
Pages (from-to)123-128
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - Jan 1 2002
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: May 11 2002May 15 2002

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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