High speed formations of reconfigurable modular robotic systems

Adrian Dumitrescu; Ichiro Suzuki; Masafumi Yamashita

High speed formations of reconfigurable modular robotic systems

Adrian Dumitrescu, Ichiro Suzuki, Masafumi Yamashita

Mathematical Informatics

Research output: Contribution to journal › Conference article › peer-review

9 Citations (Scopus)

Abstract

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

Original language	English
Pages (from-to)	123-128
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
Publication status	Published - Jan 1 2002
Event	2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States Duration: May 11 2002 → May 15 2002

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Cite this

@article{9d4ee0fe25d843dd9b261bb2b740a200,

title = "High speed formations of reconfigurable modular robotic systems",

abstract = "In this article we examine the problem of dynamic self-reconfiguration of a modular robotic system (frequently referred to as self-reconfigurable or metamorphic system), to a formation aimed at reaching a specified target position with one of the modules as quickly as possible. We present a number of high speed 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 constant ratio guarantee on the time to reach a given target in the asymptotic sense.",

author = "Adrian Dumitrescu and Ichiro Suzuki and Masafumi Yamashita",

year = "2002",

month = jan,

day = "1",

language = "English",

volume = "1",

pages = "123--128",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2002 IEEE International Conference on Robotics and Automation ; Conference date: 11-05-2002 Through 15-05-2002",

}

TY - JOUR

T1 - High speed formations of reconfigurable modular robotic systems

AU - Dumitrescu, Adrian

AU - Suzuki, Ichiro

AU - Yamashita, Masafumi

PY - 2002/1/1

Y1 - 2002/1/1

N2 - In this article we examine the problem of dynamic self-reconfiguration of a modular robotic system (frequently referred to as self-reconfigurable or metamorphic system), to a formation aimed at reaching a specified target position with one of the modules as quickly as possible. We present a number of high speed 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 constant ratio guarantee on the time to reach a given target in the asymptotic sense.

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

UR - http://www.scopus.com/inward/record.url?scp=0036055702&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0036055702&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0036055702

SN - 1050-4729

VL - 1

SP - 123

EP - 128

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 2002 IEEE International Conference on Robotics and Automation

Y2 - 11 May 2002 through 15 May 2002

ER -

High speed formations of reconfigurable modular robotic systems

Abstract

All Science Journal Classification (ASJC) codes

Other files and links

Fingerprint

Cite this