A new meta-module for efficient reconfiguration of hinged-units modular robots

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dc.contributor	Universitat Politècnica de Catalunya. Departament de Matemàtiques
dc.contributor	Universitat Politècnica de Catalunya. DCCG - Grup de recerca en geometria computacional, combinatoria i discreta
dc.contributor.author	Parada, Irene
dc.contributor.author	Sacristán Adinolfi, Vera
dc.contributor.author	Silveira, Rodrigo Ignacio
dc.date	2016
dc.identifier.citation	Parada, I., Sacristán, V., Silveira, R.I. A new meta-module for efficient reconfiguration of hinged-units modular robots. A: IEEE International Conference on Robotics and Automation. "2016 IEEE International Conference on Robotics and Automation (ICRA 2016): Stockholm, Sweden: May 16th 21st, 2016: proceedings". Stockholm: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 5197-5202.
dc.identifier.citation	978-1-4673-8026-3
dc.identifier.citation	10.1109/ICRA.2016.7487726
dc.identifier.uri	http://hdl.handle.net/2117/100623
dc.language.iso	eng
dc.publisher	Institute of Electrical and Electronics Engineers (IEEE)
dc.relation	http://ieeexplore.ieee.org/search/searchresult.jsp?newsearch=true&queryText=A%20new%20meta-module%20for%20efficient%20reconfiguration%20of%20hinged-units%20modular%20robots
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject	Àrees temàtiques de la UPC::Matemàtiques i estadística::Matemàtica discreta
dc.subject	Algorithms
dc.subject	mobile robots
dc.subject	robust control
dc.subject	robust meta-module
dc.subject	compact meta-module
dc.subject	edge-hinged modular robot units
dc.subject	M-TRAN
dc.subject	SuperBot
dc.subject	SMORES
dc.subject	UBot
dc.subject	PolyBot
dc.subject	CKBot
dc.subject	Molecubes
dc.subject	Roombots
dc.subject	rotational degrees of freedom
dc.subject	scrunch/ relax operations
dc.subject	transfer operations
dc.subject	tunneling-based reconfiguration strategy
dc.subject	Crystalline robots
dc.subject	Telecube robots
dc.subject	geometric reconfiguration algorithms
dc.subject	Algorismes
dc.subject	Classificació AMS::68 Computer science::68W Algorithms
dc.title	A new meta-module for efficient reconfiguration of hinged-units modular robots
dc.type	info:eu-repo/semantics/submittedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	We present a robust and compact meta-module for edge-hinged modular robot units such as M-TRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, as well as for central-point-hinged ones such as Molecubes and Roombots. Thanks to the rotational degrees of freedom of these units, the novel meta-module is able to expand and contract, as to double/halve its length in each dimension. Moreover, for a large class of edge-hinged robots the proposed meta-module also performs the scrunch/relax and transfer operations required by any tunneling-based reconfiguration strategy, such as those designed for Crystalline and Telecube robots. These results make it possible to apply efficient geometric reconfiguration algorithms to this type of robots. We prove the size of this new meta-module to be optimal. Its robustness and performance substantially improve over previous results.
dc.description.abstract	Peer Reviewed

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