Formations for Fast Locomotion of Metamorphic Robotic Systems  

Oleh:

Dumitrescu, Adrian ; Suzuki, Ichiro ; Yamashita, Masafumi

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 23 no. 6 (Jun. 2004), page 583-593.
Topik: metamorphic systems; motion planning; reconfiguration; locomotion
Fulltext: 583.pdf (201.05KB)

Isi artikel

In this paper, we examine the problem of dynamic selfreconfiguration of a modular robotic system (frequently referred to as a self-reconfigurable or metamorphic system), to a formation aimed at reaching a specified target position as quickly as possible. We present a number of fast 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 a constant ratio guarantee on the time to reach a given target in the asymptotic sense.

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