Self-Reconfiguration in Two-Dimensions via Active Subtraction with Modular Robots

• DOI: 10.15607/rss.2020.xvi.014
• Publication Date: 2020-06-30T18:47:47Z
• Authors: Matthew Hall; Anil Ozdemir; Roderich Gross
• Keywords: Control reconfiguration; Self-reconfiguring modular robot

Modular robotic systems comprise groups of physically connected modules which can be reconfigured to create morphologies that suit an environment or task.One method reconfiguration is via subtraction, where extraneous disconnect from initial configuration, before being removed by external intervention.In this paper, we consider approach in two dimensions, here termed active unwanted traverse a configuration order remove themselves safely, without the need for intervention, making it form self-reconfiguration.We present sequential solution selects suitable then themselves, one one.We also parallel that, while more computationally demanding, allows multiple move simultaneously.Both solutions are proven (i) correct any given nonhollow structure, and (ii) require, worst case, quadratic time proportionally number modules.Simulation studies demonstrate both work effectively specified randomly generated desired configurations with hundreds modules, reveal non-monotonic dependence between performance percentage removed.This demonstrates subtraction as viable selfreconfiguration, heuristics stochasticity, suggests its potential application real-world systems.