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dc.contributor.authorParada, Irene
dc.contributor.authorSacristán Adinolfi, Vera
dc.contributor.authorSilveira, Rodrigo Ignacio
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Matemàtiques
dc.date.accessioned2017-02-07T12:20:38Z
dc.date.available2018-01-02T01:30:56Z
dc.date.issued2016
dc.identifier.citationParada, I., Sacristán, V., Silveira, R.I. A new meta-module for efficient reconfiguration of hinged-units modular robots. A: IEEE International Conference on Robotics and Automation. "2016 IEEE International Conference on Robotics and Automation (ICRA 2016): Stockholm, Sweden: May 16th ­ 21st, 2016: proceedings". Stockholm: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 5197-5202.
dc.identifier.isbn978-1-4673-8026-3
dc.identifier.urihttp://hdl.handle.net/2117/100623
dc.description.abstractWe present a robust and compact meta-module for edge-hinged modular robot units such as M-TRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, as well as for central-point-hinged ones such as Molecubes and Roombots. Thanks to the rotational degrees of freedom of these units, the novel meta-module is able to expand and contract, as to double/halve its length in each dimension. Moreover, for a large class of edge-hinged robots the proposed meta-module also performs the scrunch/relax and transfer operations required by any tunneling-based reconfiguration strategy, such as those designed for Crystalline and Telecube robots. These results make it possible to apply efficient geometric reconfiguration algorithms to this type of robots. We prove the size of this new meta-module to be optimal. Its robustness and performance substantially improve over previous results.
dc.format.extent6 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Matemàtiques i estadística::Matemàtica discreta
dc.subject.lcshAlgorithms
dc.subject.othermobile robots
dc.subject.otherrobust control
dc.subject.otherrobust meta-module
dc.subject.othercompact meta-module
dc.subject.otheredge-hinged modular robot units
dc.subject.otherM-TRAN
dc.subject.otherSuperBot
dc.subject.otherSMORES
dc.subject.otherUBot
dc.subject.otherPolyBot
dc.subject.otherCKBot
dc.subject.otherMolecubes
dc.subject.otherRoombots
dc.subject.otherrotational degrees of freedom
dc.subject.otherscrunch/ relax operations
dc.subject.othertransfer operations
dc.subject.othertunneling-based reconfiguration strategy
dc.subject.otherCrystalline robots
dc.subject.otherTelecube robots
dc.subject.othergeometric reconfiguration algorithms
dc.titleA new meta-module for efficient reconfiguration of hinged-units modular robots
dc.typeConference report
dc.subject.lemacAlgorismes
dc.contributor.groupUniversitat Politècnica de Catalunya. DCCG - Grup de recerca en geometria computacional, combinatoria i discreta
dc.identifier.doi10.1109/ICRA.2016.7487726
dc.description.peerreviewedPeer Reviewed
dc.subject.amsClassificació AMS::68 Computer science::68W Algorithms
dc.relation.publisherversionhttp://ieeexplore.ieee.org/search/searchresult.jsp?newsearch=true&queryText=A%20new%20meta-module%20for%20efficient%20reconfiguration%20of%20hinged-units%20modular%20robots
dc.rights.accessOpen Access
drac.iddocument18732038
dc.description.versionPostprint (author's final draft)
upcommons.citation.authorParada, I., Sacristán, V., Silveira, R.I.
upcommons.citation.contributorIEEE International Conference on Robotics and Automation
upcommons.citation.pubplaceStockholm
upcommons.citation.publishedtrue
upcommons.citation.publicationName2016 IEEE International Conference on Robotics and Automation (ICRA 2016): Stockholm, Sweden: May 16th ­ 21st, 2016: proceedings
upcommons.citation.startingPage5197
upcommons.citation.endingPage5202


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