AML Talk

We address the issue of motion planning for a bipartite class of modular self-reconfiguring robotic system (I-Cubes) that is a collection of active elements providing reconfiguration (3-DOF manipulators called links) and passive elements acting as connectors (cubes). The links, capable of attaching/detaching themselves from/to cubes, can position and orient the cubes.

Current solutions for motion planning and reconfiguration of I-Cubes include multi-layered planners that divide a given problem into tractable sub-problems to be evaluated using heuristic methods. The system implementation, its representation in simulation, search algorithms resulting from this representation, and simulation examples are presented.

In addition, we will briefly introduce the new design of the I-Cubes.