Configuration discovery of modular self-reconfigurable robots

Real-time, distributed, IR+XBee communication method

José Baca, Bradley Woosley, Prithviraj Dasgupta, Carl A Nelson

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

We consider the problem of discovering and representing the topology of a modular self-reconfigurable robot (MSR) in which modules do not have a priori information about the locations of and connections with other modules participating in the configuration. To represent the topology of the configuration, we propose to combine two main features; the geometric shape of the module, and the graph that represents connectivity among modules. In order to obtain the graph, it is necessary to discover the modules that are in the current configuration. This process is done by sharing IDs, creating a local configuration structure (LCS) or list of local neighbors, propagating LCSs among the modules, and building up an adjacency matrix based on the LCSs. To increase the autonomy and robustness of the system, we consider a distributed architecture in which each module is able to discover the configuration by itself. This work is based on the combination of Infra-Red and XBee communication protocols, and the limited computational resources available in a module. For testing, demonstration, and validation purposes, we have implemented the approach in a robotic platform called ModRED (Modular Robot for Exploration and Discovery).

Original languageEnglish (US)
Pages (from-to)284-298
Number of pages15
JournalRobotics and Autonomous Systems
Volume91
DOIs
StatePublished - May 1 2017

Fingerprint

Robot
Topology
Modular robots
Robots
Real-time
Module
Configuration
Communication
Robotics
Demonstrations
Infrared radiation
Network protocols
Testing
Distributed Architecture
Communication Protocol
Adjacency Matrix
Graph in graph theory
Sharing
Connectivity
Infrared

Keywords

  • Configuration discovery
  • Distributed approach
  • Modular robots
  • Real-time

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

Cite this

Configuration discovery of modular self-reconfigurable robots : Real-time, distributed, IR+XBee communication method. / Baca, José; Woosley, Bradley; Dasgupta, Prithviraj; Nelson, Carl A.

In: Robotics and Autonomous Systems, Vol. 91, 01.05.2017, p. 284-298.

Research output: Contribution to journalArticle

@article{7c8ffbcd07b54885932dbe93cd4aaada,
title = "Configuration discovery of modular self-reconfigurable robots: Real-time, distributed, IR+XBee communication method",
abstract = "We consider the problem of discovering and representing the topology of a modular self-reconfigurable robot (MSR) in which modules do not have a priori information about the locations of and connections with other modules participating in the configuration. To represent the topology of the configuration, we propose to combine two main features; the geometric shape of the module, and the graph that represents connectivity among modules. In order to obtain the graph, it is necessary to discover the modules that are in the current configuration. This process is done by sharing IDs, creating a local configuration structure (LCS) or list of local neighbors, propagating LCSs among the modules, and building up an adjacency matrix based on the LCSs. To increase the autonomy and robustness of the system, we consider a distributed architecture in which each module is able to discover the configuration by itself. This work is based on the combination of Infra-Red and XBee communication protocols, and the limited computational resources available in a module. For testing, demonstration, and validation purposes, we have implemented the approach in a robotic platform called ModRED (Modular Robot for Exploration and Discovery).",
keywords = "Configuration discovery, Distributed approach, Modular robots, Real-time",
author = "Jos{\'e} Baca and Bradley Woosley and Prithviraj Dasgupta and Nelson, {Carl A}",
year = "2017",
month = "5",
day = "1",
doi = "10.1016/j.robot.2017.01.012",
language = "English (US)",
volume = "91",
pages = "284--298",
journal = "Robotics and Autonomous Systems",
issn = "0921-8890",
publisher = "Elsevier",

}

TY - JOUR

T1 - Configuration discovery of modular self-reconfigurable robots

T2 - Real-time, distributed, IR+XBee communication method

AU - Baca, José

AU - Woosley, Bradley

AU - Dasgupta, Prithviraj

AU - Nelson, Carl A

PY - 2017/5/1

Y1 - 2017/5/1

N2 - We consider the problem of discovering and representing the topology of a modular self-reconfigurable robot (MSR) in which modules do not have a priori information about the locations of and connections with other modules participating in the configuration. To represent the topology of the configuration, we propose to combine two main features; the geometric shape of the module, and the graph that represents connectivity among modules. In order to obtain the graph, it is necessary to discover the modules that are in the current configuration. This process is done by sharing IDs, creating a local configuration structure (LCS) or list of local neighbors, propagating LCSs among the modules, and building up an adjacency matrix based on the LCSs. To increase the autonomy and robustness of the system, we consider a distributed architecture in which each module is able to discover the configuration by itself. This work is based on the combination of Infra-Red and XBee communication protocols, and the limited computational resources available in a module. For testing, demonstration, and validation purposes, we have implemented the approach in a robotic platform called ModRED (Modular Robot for Exploration and Discovery).

AB - We consider the problem of discovering and representing the topology of a modular self-reconfigurable robot (MSR) in which modules do not have a priori information about the locations of and connections with other modules participating in the configuration. To represent the topology of the configuration, we propose to combine two main features; the geometric shape of the module, and the graph that represents connectivity among modules. In order to obtain the graph, it is necessary to discover the modules that are in the current configuration. This process is done by sharing IDs, creating a local configuration structure (LCS) or list of local neighbors, propagating LCSs among the modules, and building up an adjacency matrix based on the LCSs. To increase the autonomy and robustness of the system, we consider a distributed architecture in which each module is able to discover the configuration by itself. This work is based on the combination of Infra-Red and XBee communication protocols, and the limited computational resources available in a module. For testing, demonstration, and validation purposes, we have implemented the approach in a robotic platform called ModRED (Modular Robot for Exploration and Discovery).

KW - Configuration discovery

KW - Distributed approach

KW - Modular robots

KW - Real-time

UR - http://www.scopus.com/inward/record.url?scp=85015071698&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85015071698&partnerID=8YFLogxK

U2 - 10.1016/j.robot.2017.01.012

DO - 10.1016/j.robot.2017.01.012

M3 - Article

VL - 91

SP - 284

EP - 298

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

SN - 0921-8890

ER -