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As exchange of information is essential to modular robots, deciding between local or global communication is a common design choice. This choice, however, still lacks theoretical support. In this paper we analyse the efficiency of local and global communication in modular robots. To this end, we use parameters to describe the topology of modular robots, develop a probabilistic model of local communication...
Modular, self-reconfigurable robots are robots that can change their own shape by physically rearranging the modules from which they are built. Self-reconfiguration can be controlled by e.g. an off-line planner, but numerous implementation issues hamper the actual self-reconfiguration process: the continuous evolution of the communication topology increases the risk of communications failure, generating...
Modular robot programming spans a number of issues ranging from high-level coordination to controller distribution and update in individual modules. The latter issue has received little attention from the research community though in our experience it is one of the main factors hindering agile development and experimentation with physical robots: reprogramming tens or hundreds of modules can be a...
A reconfigurable robot is a robot that can change shape. Programming reconfigurable robots is complicated by the need to adapt the behavior of each of the individual module to the overall physical shape of the robot. In this position paper, we investigate a simple approach to allow the programmer to abstract over the concrete shape of a robot using the notion of a label as a simple means of addressing...
Generic simulation platforms such as player/stage are an essential tool in mobile robotics, but until now no similar platforms have been available for the field of self-reconfigurable robots. We here present a generic simulation platform for modular, self-reconfigurable robots: the unified simulator for self-reconfigurable robots (USSR). USSR is based on a physics engine, allowing simulation of both...
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