Self-Reconfiguration in Modular Robots Using Coalition Games with Uncertainty

نویسندگان

  • Zachary Ramaekers
  • Raj Dasgupta
  • Vladimir Ufimtsev
  • S. G. M. Hossain
  • Carl A. Nelson
چکیده

We consider the problem of dynamic selfreconfiguration in a modular self-reconfigurable robot (MSR). Previous MSR self-reconfiguration approaches search for new configurations only within the modules of the MSR that needs reconfiguration. In contrast, we describe a technique where an MSR that needs to reconfigure communicates with other MSRs in its vicinity to determine if modules can be shared from other MSRs, and then determines the best possible configuration among the combined set of modules. We model the MSR self-reconfiguration problem as a coalition structure generation problem within a coalition game theoretic framework. We formulate the coalition structure generation problem as a planning problem in the presence of uncertainty and propose an MDP-based algorithm to solve it. We have implemented our algorithm within an MSR called ModRED that is simulated on the Webots simulation platform. Our results show that using our self-reconfiguration algorithm, when an MSR needs to reconfigure, a new configuration that is within 5 − 7% of the globally optimal configuration can be determined. We have also shown that our algorithm performs comparably with another existing algorithm for determining optimal coalition structure.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Dynamic reconfiguration in modular robots using graph partitioning-based coalitions

We consider the problem of dynamic self-reconfiguration in a modular self-reconfigurable robot (MSR). Previous approaches to MSR self-reconfiguration solve this problem using algorithms that search for a goal configuration in the MSR’s configuration space. In contrast, we model the selfreconfiguration problem as a constrained optimization problem that attempts to minimize the reconfiguration co...

متن کامل

A Fast Reconfiguration Algorithm for Modular Robots under Uncertainty using Block Partitioning

We consider the problem of reconfiguration planning in modular selfreconfigurable robots (MSRs) in the presence of uncertainty due to operational limitations of the robot and dynamic nature of the environment. We employ a coalition game theory-based technique to address this problem by representing a configuration of the modules as a coalition structure and finding the ’best’ configuration by s...

متن کامل

A Fast Coalition Structure Search Algorithm for Modular Robot Reconfiguration Planning under Uncertainty

We consider the problem of reconfiguration planning in modular robots. Current techniques for reconfiguration planning usually specify the destination configuration for a modular robot explicitly. We posit that in uncertain environments the desirable configuration for a modular robot is not known beforehand and has to be determined dynamically. In this paper, we consider this problem of how to ...

متن کامل

An Integrated System for Perception-Driven Autonomy with Modular Robots

The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage, but has never been experimentally demonstrated. For the first time, we present a system that integrates perception, high-level mission planning, and modular robot hardware, allowing a modular robot to autonomously reconfigure in respon...

متن کامل

Three Dimensional Stochastic Reconfiguration of Modular Robots

Here we introduce one simulated and two physical three-dimensional stochastic modular robot systems, all capable of self-assembly and self-reconfiguration. We assume that individual units can only draw power when attached to the growing structure, and have no means of actuation. Instead they are subject to random motion induced by the surrounding medium when unattached. We present a simulation ...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2011