Generic Distributed Assembly and Repair Algorithms for Self-Reconfiguring Robots

Abstract

In this paper we present generic distributed algorithms for assembling and repairing shapes using modular self-reconfiguring robots. The algorithms work in the sliding cube model. Each module independently evaluates a set of local rules using different evaluation models. Two methods are used to determine the correctness of the algorithmsa graph analysis technique which can prove the rule set is correct for specific instances of the algorithm, and a statistical technique which can produce arbitrary bounds on the likelihood that the rule set functions correctly. An extension of the assembly algorithm can be used to produce arbitrary non-cantilevered convex shapes without holes. The algorithms have been implemented and evaluated in simulation.

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Document Details

Document Type
Technical Report
Publication Date
Oct 02, 2004
Accession Number
AD1014982

Entities

People

  • Daniela L. Rus
  • Keith Kotay

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Artificial Intelligence
  • Assembly
  • Automata
  • Computer Science
  • Control Systems
  • Iterations
  • Locomotion
  • Machine Learning
  • Robots
  • Sequences
  • Simulations
  • Simulators
  • Test And Evaluation
  • Three Dimensional
  • Transitions

Fields of Study

  • Computer science

Readers

  • Mathematical Modeling and Probability Theory.
  • Neural Network Machine Learning.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control