Simultaneous configuration formation and information collection by modular robotic systems

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

3 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5216-5221
Number of pages6
ISBN (Electronic)9781467380263
DOIs
StatePublished - Jun 8 2016
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: May 16 2016May 21 2016

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period5/16/165/21/16

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Dutta, A., & Dasgupta, P. (2016). Simultaneous configuration formation and information collection by modular robotic systems. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (pp. 5216-5221). [7487729] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2016-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2016.7487729