State Complexes for Metamorphic Robots  

Oleh:

Abrams, A. ; Ghrist, R.

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 23 no. 7-8 (Jul. 2004), page 811-826.
Topik: metamorphic robot; configuration space; cubical complex; curvature
Fulltext: 811.pdf (269.93KB)

Isi artikel

A metamorphic robotic system is an aggregate of homogeneous robot units which can individually and selectively locomote in such a way as to change the global shape of the system. We introduce a mathematical framework for defining and analyzing general metamorphic robots. With this formal structure, combined with ideas from geometric group theory, we define a new type of configuration space for metamorphic robots - the state complex - which is especially adapted to parallelization. We present an algorithm for optimizing an input reconfiguration sequence with respect to elapsed time. A universal geometric property of state complexes - non-positive curvature - is the key to proving convergence to the globally timeoptimal solution obtainable from the initial path.

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