Artículo
A membrane computing framework for self-reconfigurable robots
Autor/es | Bie, Dongyang
Gutiérrez Naranjo, Miguel Ángel Zhao, Jie Zhu, Yanhe |
Departamento | Universidad de Sevilla. Departamento de Ciencias de la Computación e Inteligencia Artificial |
Fecha de publicación | 2019 |
Fecha de depósito | 2021-04-06 |
Publicado en |
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Resumen | Self-reconfigurable robots are built by modules which can move in relationship to each other, which allows the robot to
change its physical form. Finding a sequence of module moves that reconfigures the robot from the ... Self-reconfigurable robots are built by modules which can move in relationship to each other, which allows the robot to change its physical form. Finding a sequence of module moves that reconfigures the robot from the initial configuration to the goal configuration is a hard task and many control algorithms have been proposed. In this paper, we present a novel method which combines a cluster-flow locomotion based on cellular automata together with a decentralized local representation of the spatial geometry based on membrane computing ideas. This new approach has been tested with computer simulations and real-world experiments performed with modular self-reconfigurable robots and represents a new point of view with respect other control methods found in the literature. |
Agencias financiadoras | National Natural Science Foundation of China State Key Laboratory of Robotics |
Identificador del proyecto | U1713201
2018-O10 |
Cita | Bie, D., Gutiérrez Naranjo, M.Á., Zhao, J. y Zhu, Y. (2019). A membrane computing framework for self-reconfigurable robots. Natural Computing, 18 (3), 635-646. |
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