Spanning tree partitioning approach for configuration generation in modular robots

Ayan Dutta, Prithviraj Dasgupta, José Baca, Carl Nelson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We consider the problem of configuration generation in modular self-reconfigurable robots, where a set of modules that are in a certain configuration are required to form a new configuration while remaining within the size, battery and communication constraints. This problem is computationally non-trivial as the set of possible configurations grows exponentially with the number of modules. We propose a novel, anytime and distributed algorithm that uses a branch-and-bound pruning technique to reduce its search space, by constructing a minimum spanning tree and finally determines the highest utility configuration among the set of modules. Experimental results show that our technique can quickly identify modules to form new configurations for different configuration sizes.

Original languageEnglish (US)
Title of host publicationProceedings of the 28th International Florida Artificial Intelligence Research Society Conference, FLAIRS 2015
EditorsWilliam Eberle, Ingrid Russell
PublisherAAAI Press
Pages360-365
Number of pages6
ISBN (Electronic)9781577357308
StatePublished - Jan 1 2015
Event28th International Florida Artificial Intelligence Research Society Conference, FLAIRS 2015 - Hollywood, United States
Duration: May 18 2015May 20 2015

Publication series

NameProceedings of the 28th International Florida Artificial Intelligence Research Society Conference, FLAIRS 2015

Other

Other28th International Florida Artificial Intelligence Research Society Conference, FLAIRS 2015
CountryUnited States
CityHollywood
Period5/18/155/20/15

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ASJC Scopus subject areas

  • Artificial Intelligence

Cite this

Dutta, A., Dasgupta, P., Baca, J., & Nelson, C. (2015). Spanning tree partitioning approach for configuration generation in modular robots. In W. Eberle, & I. Russell (Eds.), Proceedings of the 28th International Florida Artificial Intelligence Research Society Conference, FLAIRS 2015 (pp. 360-365). (Proceedings of the 28th International Florida Artificial Intelligence Research Society Conference, FLAIRS 2015). AAAI Press.