Internal Localization of Modular Robot Ensembles

 

In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07

Stanislav Funiak, Padmanabhan Pillai, Jason D. Campbell, and Seth Copen Goldstein

October, 2007

Abstract


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@inproceedings{funiak-iros07,
  author = {Funiak, Stanislav and Pillai, Padmanabhan and Campbell,
     Jason D. and Goldstein, Seth Copen},
  title = {Internal Localization of Modular Robot Ensembles},
  booktitle = {Workshop on Self-Reconfiguring Modular Robotics at the
     IEEE International Conference on Intelligent Robots and Systems
     (IROS) '07},
  year = {2007},
  month = {October},
  abstract = {The determination of the relative position and pose of
     every robot in a modular robotic ensemble is a necessary
     preliminary step for most modular robotic tasks. Localization is
     particularly important when the modules make local noisy
     observations and are not significantly constrained by inter-robot
     latches. In this paper, we propose a robust hierarchical approach
     to the {\em internal localization} problem that uses normalized
     cut to identify subproblems with small localization error. A key
     component of our solution is a simple method to reduce the cost
     of normalized cut computations. The result is a robust algorithm
     that scales to large, non-homogeneous ensembles. We evaluate our
     algorithm in simulation on ensembles of up to 10,000 modules,
     demonstrating substantial improvements over prior work.},
  keywords = {Claytronics, Probabilistic Inference, Sensing,
     Localization, Distributed Algorithms},
  url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-iros07.pdf}
}

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