Parametric L-systems-based modeling self-reconfiguration of modular robots in obstacle environments. (13th February 2018)

• Record Type: Journal Article
• Authors: Bie, Dongyang; Wang, Yulin; Zhang, Yu; Liu, Che; zhao, Jie; Zhu, Yanhe
• Is Part Of: International journal of advanced robotic systems. Volume 15:Number 1(2018:Jan./Feb.)
• Publication Date: 2018-02-13
• Subjects: Modular robot -- self-reconfigurable robots -- decentralized control -- distributed sensing -- bio-inspired control -- L-systems; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881418754477
• Languages: English
• ISSNs: 1729-8806

Abstract

Self-reconfiguration of modular self-reconfigurable robots is a fundamental function that can be used as part of higher-level functionality. Interaction with the environment is a key factor affecting the self-reconfiguration process of modular robots. In this article, a modeling framework that makes it possible to simulate and visualize the interactions at the level of decentralized modules will be introduced. The framework extends the formalism of Lindenmayer systems (L-systems) with constructs needed to model robotic information exchanged between decentralized modules and their surrounding environments. Both the construction of target configurations and environmental sensitive adaption can be handled by extending L-system symbols and reproduction rules. The proposed method is illustrated with simulations capturing the development of branching structures while adapting to environmental obstacles.