Carnegie Mellon University Website Home Page
 
 
 

Generalizing Metamodules to Simplify Planning in Modular Robotic Systems

 

In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08

Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein

Nice, France

September, 2008

Abstract


download pdf


@inproceedings{dewey-iros08,
  author = {Dewey, Daniel and Srinivasa, Siddhartha S. and
     Ashley-Rollman, Michael P. and De~Rosa, Michael and Pillai,
     Padmanabhan and Mowry, Todd C. and Campbell, Jason D. and
     Goldstein, Seth Copen},
  title = {Generalizing Metamodules to Simplify Planning in Modular
     Robotic Systems},
  booktitle = {Proceedings of IEEE/RSJ 2008 International Conference
     on Intelligent Robots and Systems {IROS '08}},
  year = {2008},
  address = {Nice, France},
  month = {September},
  abstract = {In this paper we develop a theory of metamodules and an
     associated distributed asynchronous planner which generalizes
     previous work on metamodules for lattice-based modular robotic
     systems. All extant modular robotic systems have some form of
     non-holonomic motion constraints. This has prompted many
     researchers to look to metamodules, i.e., groups of modules that
     act as a unit, as a way to reduce motion constraints and the
     complexity of planning. However, previous metamodule designs have
     been specific to a particular modular robot. 

By analyzing the constraints found in modular robotic systems we develop a holonomic metamodule which has two important properties: (1) it can be used as the basic unit of an efficient planner and (2) it can be instantiated by a wide variety of different underlying modular robots, e.g., modular robot arms, expanding cubes, hex-packed spheres, etc. Using a series of transformations we show that our practical metamodule system has a provably complete planner. Finally, our approach allows the task of shape transformation to be separated into a planning task and a resource allocation task. We implement our planner for two different metamodule systems and show that the time to completion scales linearly with the diameter of the ensemble.}, url = {http://www.cs.cmu.edu/~claytronics/papers/dewey-iros08.pdf}, keywords = {Meld, Planning, Multi-Robot Formations, Controlling Ensembles, Robotics}, }


Related Papers

Robotics
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08, September, 2008.
Movement Primitives for an Orthogonal Prismatic Closed-Lattice-Constrained Self-Reconfiguring Module
Michael Philetus Weller, Mustafa Emre Karagozler, Brian Kirby, Jason D. Campbell, and Seth Copen Goldstein. In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07, October, 2007.
Ultralight Modular Robotic Building blocks for the Rapid Deployment of Planetary Outposts
Mustafa Emre Karagozler, Brian Kirby, W.J. Lee, Eugene Marinelli, T.C. Ng, Michael Philetus Weller, and Seth Copen Goldstein. In Revolutionary Aerospace Systems Concepts Academic Linkage (RASC-AL) Forum 2006, May, 2006.
Claytronics: A scalable basis for future robots
Seth Copen Goldstein and Todd C. Mowry. In RoboSphere 2004, November, 2004.
Planning
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08, September, 2008.
Declarative Programming for Modular Robots
Michael P. Ashley-Rollman, Michael De Rosa, Siddhartha S. Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason D. Campbell. In Workshop on Self-Reconfigurable Robots/Systems and Applications at IROS '07, October, 2007.
Movement Primitives for an Orthogonal Prismatic Closed-Lattice-Constrained Self-Reconfiguring Module
Michael Philetus Weller, Mustafa Emre Karagozler, Brian Kirby, Jason D. Campbell, and Seth Copen Goldstein. In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07, October, 2007.
Hierarchical Motion Planning for Self-reconfigurable Modular Robots
Preethi Srinivas Bhat, James Kuffner, Seth Copen Goldstein, and Siddhartha S. Srinivasa. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2006.
Scalable Shape Sculpting via Hole Motion: Motion Planning in Lattice-Constrained Module Robots
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai. In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.
Meld
A Language for Large Ensembles of Independently Executing Nodes
Michael P. Ashley-Rollman, Peter Lee, Seth Copen Goldstein, Padmanabhan Pillai, and Jason D. Campbell. In Proceedings of the International Conference on Logic Programming (ICLP '09), July, 2009.
Distributed Localization of Modular Robot Ensembles
Stanislav Funiak, Padmanabhan Pillai, Michael P. Ashley-Rollman, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of Robotics: Science and Systems, June, 2008.
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08, September, 2008.
Declarative Programming for Modular Robots
Michael P. Ashley-Rollman, Michael De Rosa, Siddhartha S. Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason D. Campbell. In Workshop on Self-Reconfigurable Robots/Systems and Applications at IROS '07, October, 2007.
Meld: A Declarative Approach to Programming Ensembles
Michael P. Ashley-Rollman, Seth Copen Goldstein, Peter Lee, Todd C. Mowry, and Padmanabhan Pillai. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07), October, 2007.
Controlling Ensembles
Collective Actuation
Jason D. Campbell and Padmanabhan Pillai. International Journal of Robotics Research, 27(3-4):299–314,2008.
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08, September, 2008.
Locomotion of Miniature Catom Chains: Scale Effects on Gait and Velocity
David Johan Christensen and Jason D. Campbell. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '07), pages 2254–2260, April, 2007.
Collective Actuation
Jason D. Campbell and Padmanabhan Pillai. In RSS 2006 Workshop on Self-Reconfigurable Modular Robots, August, 2006.
Hierarchical Motion Planning for Self-reconfigurable Modular Robots
Preethi Srinivas Bhat, James Kuffner, Seth Copen Goldstein, and Siddhartha S. Srinivasa. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2006.
Scalable Shape Sculpting via Hole Motion: Motion Planning in Lattice-Constrained Module Robots
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai. In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.
Multi-Robot Formations
An Energy and Memory-Efficient Distributed Self-reconfiguration for Modular Sensor/Robot Networks
Hicham Lakhlef, Hakim Mabed, and Julien Bourgeois. Journal of Supercomputing, *(*):***–***,2014.
Optimization of the Logical Topology for Mobile MEMS Networks
Hicham Lakhlef, Hakim Mabed, and Julien Bourgeois. JNCA, Journal of Network and Computer Applications, *(*):***–***,2014.
Robust Parallel Redeployment Algorithm for MEMS Microrobots.
Hicham Lakhlef, Julien Bourgeois, and Hakim Mabed. In AINA 2014, 28th IEEE Int. Conf. on Advanced Information Networking and Applications, pages 1–8, May, 2014.
Distributed and Efficient Algorithm for Self-reconfiguration of MEMS Microrobots
Hicham Lakhlef, Hakim Mabed, and Julien Bourgeois. In SAC 2013, 28-th ACM Symposium On Applied Computing, pages 1–6, March, 2013.
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08, September, 2008.
A Scalable Distributed Algorithm for Shape Transformation in Multi-Robot Systems
Ramprasad Ravichandran, Geoffrey Gordon, and Seth Copen Goldstein. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems IROS '07, October, 2007.


Back to publications list