Roombots - Towards decentralized reconfiguration with self-reconfiguring modular robotic metamodules

2010

Conference Paper

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This paper presents our work towards a decentralized reconfiguration strategy for self-reconfiguring modular robots, assembling furniture-like structures from Roombots (RB) metamodules. We explore how reconfiguration by loco- motion from a configuration A to a configuration B can be controlled in a distributed fashion. This is done using Roombots metamodules—two Roombots modules connected serially—that use broadcast signals, lookup tables of their movement space, assumptions about their neighborhood, and connections to a structured surface to collectively build desired structures without the need of a centralized planner.

@inproceedings{escidoc:2316387,
  title = {Roombots - Towards decentralized reconfiguration with self-reconfiguring modular robotic metamodules},
  author = {Spr{\"o}witz, Alexander and Laprade, Philippe and Bonardi, Stephane and Mayer, Mikael and Moeckel, Rico and Mudry, Pierre-Andre and Ijspeert, Auke Jan},
  booktitle = {Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {1126--1132},
  publisher = {IEEE},
  address = {Taipeh},
  year = {2010},
  doi = {10.1109/IROS.2010.5649504}
}