TY - GEN
T1 - Toward flexible and scalable self-reconfiguration of M-TRAN
AU - Kurokawa, Haruhisa
AU - Tomita, Kohji
AU - Kamimura, Akiya
AU - Murata, Satoshi
PY - 2009
Y1 - 2009
N2 - Scalable self-reconfiguration of an M-TRAN modular robotic system is presented herein. Possible configurations are restricted to those of a symmetric planar type, which are made by an arbitrary number of M-TRAN modules. A logical model of such configurations is made in which each module is represented as a square cell, where self-reconfiguration is represented by cooperative motions of two neighbor cells. Based on the concept, programs for simulations and experiments were developed. Experiments of simple self-reconfigurations using local communication between modules by infrared light were successful.
AB - Scalable self-reconfiguration of an M-TRAN modular robotic system is presented herein. Possible configurations are restricted to those of a symmetric planar type, which are made by an arbitrary number of M-TRAN modules. A logical model of such configurations is made in which each module is represented as a square cell, where self-reconfiguration is represented by cooperative motions of two neighbor cells. Based on the concept, programs for simulations and experiments were developed. Experiments of simple self-reconfigurations using local communication between modules by infrared light were successful.
UR - http://www.scopus.com/inward/record.url?scp=84878562353&partnerID=8YFLogxK
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U2 - 10.1007/978-3-642-00644-9_36
DO - 10.1007/978-3-642-00644-9_36
M3 - Conference contribution
AN - SCOPUS:84878562353
SN - 9783642006432
T3 - Distributed Autonomous Robotic Systems 8
SP - 405
EP - 416
BT - Distributed Autonomous Robotic Systems 8
PB - Springer Publishing Company
T2 - 9th International Symposia on Distributed Autonomous Robotic Systems, DARS 2008
Y2 - 17 November 2008 through 19 November 2008
ER -