TY - GEN
T1 - Simultaneous configuration formation and information collection by modular robotic systems
AU - Dutta, Ayan
AU - Dasgupta, Prithviraj
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - We consider the configuration formation problem in modular robotic systems where a set of singleton modules that are spatially distributed in an environment are required to assume appropriate positions so that they can configure into a new, user-specified target configuration, while simultaneously maximizing the amount of information collected while navigating from their initial to final positions. Each module has a limited energy budget to expend while moving from its initial to goal location. To solve this problem, we propose a budget-limited, heuristic search-based algorithm that finds a path that maximizes the entropy of the expected information along the path. We have analytically proved that our proposed approach converges within finite time. Experimental results show that our planning approach has lower run-time than an auction-based allocation algorithm for selecting modules' spots.
AB - We consider the configuration formation problem in modular robotic systems where a set of singleton modules that are spatially distributed in an environment are required to assume appropriate positions so that they can configure into a new, user-specified target configuration, while simultaneously maximizing the amount of information collected while navigating from their initial to final positions. Each module has a limited energy budget to expend while moving from its initial to goal location. To solve this problem, we propose a budget-limited, heuristic search-based algorithm that finds a path that maximizes the entropy of the expected information along the path. We have analytically proved that our proposed approach converges within finite time. Experimental results show that our planning approach has lower run-time than an auction-based allocation algorithm for selecting modules' spots.
UR - http://www.scopus.com/inward/record.url?scp=84977487334&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2016.7487729
DO - 10.1109/ICRA.2016.7487729
M3 - Conference contribution
AN - SCOPUS:84977487334
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5216
EP - 5221
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -