Publication

Graph signature for self-reconfiguration planning

Auke Ijspeert, Aude Billard, Pierre Dillenbourg, Alexander Spröwitz
2008
Conference Papers

Abstract

This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection / disconnection of modules and rotations of the degrees of freedom. This paper introduces a new approach to self-reconfiguration planning for modular robots based on the graph signature and the graph edit-distance. The method has been tested in simulation on two type of modules: YaMoR and M-TRAN. The simulation results shows interesting features of the approach, namely rapidly finding a near-optimal solution

Official source

https://infoscience.epfl.ch/entities/publication/95ee9f6e-4077-4631-bcd1-2d0e4eb5a65d

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Graph signature for self-reconfiguration planning

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