Distributed Planning and Control for Modular Robots with Unit-Compressible Modules
作者： Zack Butler , Daniela Rus
DOI: 10.1177/02783649030229002
关键词:
摘要: Self-reconfigurable robots are versatile systems consisting of large numbers independent modules. Effective use these requires parallel actuation and planning, both for efficiency independence from a central controller. In this paper we present the PacMan algorithm, technique distributed planning with two- or three-dimensional unit-compressible We give two versions algorithm along correctness analysis. also analyze capability showing that it will not deadlock avoid disconnecting robot. have implemented on Crystal robot, hardware system developed in our lab, experiments discuss feasibility large-scale implementation.
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