Decentralized Pose Control of Modular Reconfigurable Robots Operating in Liquid Environments
Name
2019-iros-marques.pdf
Description
Accepted version
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818.58 KB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Marques, Joao V. Amorim
Ozdemir, Anil
Doyle, Matthew J.
Rus, Daniela
Gros, Roderich
Date Issued
November 2019
Journal
IEEE International Conference on Intelligent Robots and Systems
Publisher
IEEE
Citation
Marques, Joao V. Amorim, Ozdemir, Anil, Doyle, Matthew J., Rus, Daniela and Gros, Roderich. 2019. "Decentralized Pose Control of Modular Reconfigurable Robots Operating in Liquid Environments." IEEE International Conference on Intelligent Robots and Systems.
Version
Author's final manuscript
Abstract
Modular reconfigurable robots are touted for their flexibility, as their bodies can assume a wide range of shapes. A particular challenge is to make them move efficiently in 3D without compromising the scalability of the system. This paper proposes decentralized and fully reactive controllers for pose control of 3D modular reconfigurable robots. The robots operate in liquid environments, and move by routing fluid through themselves. Each module uses only two bits of sensory information per face. Additionally, the modules can use up to five bits of information that are exchanged via shared power lines. We prove that robots of convex shape are guaranteed to reach a goal object with a preferred orientation. Using computer simulations of Modular Hydraulic Propulsion robots, all controllers are assessed for different environments, system sizes and noise, and their performances compared against a centralized controller. Given the simplicity of the solutions, modules could be realized at scales below a millimeter-cube, where robots of high spatial resolution could perform accurate movements in 3D liquid environments.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/iros40897.2019.8967698
