TY - GEN
T1 - Spanning tree partitioning approach for configuration generation in modular robots
AU - Dutta, Ayan
AU - Dasgupta, Prithviraj
AU - Baca, José
AU - Nelson, Carl
N1 - Publisher Copyright:
Copyright © 2015, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.
PY - 2015
Y1 - 2015
N2 - We consider the problem of configuration generation in modular self-reconfigurable robots, where a set of modules that are in a certain configuration are required to form a new configuration while remaining within the size, battery and communication constraints. This problem is computationally non-trivial as the set of possible configurations grows exponentially with the number of modules. We propose a novel, anytime and distributed algorithm that uses a branch-and-bound pruning technique to reduce its search space, by constructing a minimum spanning tree and finally determines the highest utility configuration among the set of modules. Experimental results show that our technique can quickly identify modules to form new configurations for different configuration sizes.
AB - We consider the problem of configuration generation in modular self-reconfigurable robots, where a set of modules that are in a certain configuration are required to form a new configuration while remaining within the size, battery and communication constraints. This problem is computationally non-trivial as the set of possible configurations grows exponentially with the number of modules. We propose a novel, anytime and distributed algorithm that uses a branch-and-bound pruning technique to reduce its search space, by constructing a minimum spanning tree and finally determines the highest utility configuration among the set of modules. Experimental results show that our technique can quickly identify modules to form new configurations for different configuration sizes.
UR - http://www.scopus.com/inward/record.url?scp=84958154492&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84958154492&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84958154492
T3 - Proceedings of the 28th International Florida Artificial Intelligence Research Society Conference, FLAIRS 2015
SP - 360
EP - 365
BT - Proceedings of the 28th International Florida Artificial Intelligence Research Society Conference, FLAIRS 2015
A2 - Eberle, William
A2 - Russell, Ingrid
PB - AAAI Press
T2 - 28th International Florida Artificial Intelligence Research Society Conference, FLAIRS 2015
Y2 - 18 May 2015 through 20 May 2015
ER -