Self-reconfiguration in modular robots using coalition games with uncertainty

Zachary Ramaekers, Prithviraj Dasgupta, Vladimir Ufimtsev, S. G.M. Hossain, Carl Nelson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations


We consider the problem of dynamic self-reconfiguration in a modular self-reconfigurable robot (MSR). Previous MSR self-reconfiguration approaches search for new configurations only within the modules of the MSR that needs reconfiguration. In contrast, we describe a technique where an MSR that needs to reconfigure communicates with other MSRs in its vicinity to determine if modules can be shared from other MSRs, and then determines the best possible configuration among the combined set of modules. We model the MSR self-reconfiguration problem as a coalition structure generation problem within a coalition game theoretic framework. We formulate the coalition structure generation problem as a planning problem in the presence of uncertainty and propose an MDP-based algorithm to solve it. We have implemented our algorithm within an MSR called ModRED that is simulated on the Webots simulation platform. Our results show that using our self-reconfiguration algorithm, when an MSR needs to reconfigure, a new configuration that is within 5-7% of the globally optimal configuration can be determined. We have also shown that our algorithm performs comparably with another existing algorithm for determining optimal coalition structure.

Original languageEnglish (US)
Title of host publicationAutomated Action Planning for Autonomous Mobile Robots - Papers from the 2011 AAAI Workshop, Technical Report
Number of pages7
StatePublished - 2011
Event2011 AAAI Workshop - San Francisco, CA, United States
Duration: Aug 7 2011Aug 7 2011

Publication series

NameAAAI Workshop - Technical Report


Conference2011 AAAI Workshop
Country/TerritoryUnited States
CitySan Francisco, CA

ASJC Scopus subject areas

  • Engineering(all)


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