Modelling, Simulation, and Planning for the MoleMOD System

  • Michaela Brejchová
  • Miroslav KulichEmail author
  • Jan Petrš
  • Libor Přeučil
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11472)


MoleMOD is a heterogeneous self-reconfigurable modular robotic system to be employed in architecture and civil engineering. In this paper we present two components of the MoleMOD infrastructure - a test environment and a planning algorithm. The test environment for simulation and visualization of active parts as well as passive blocks of MoleMOD is based on Gazebo - a powerful general-purpose robotic simulator. The key effort has been put into preparation of realistic models of passive and active components taking into account their physical characteristics. Moreover, given a starting configuration of the MoleMOD system and a final configuration an approach to plan collision-free trajectories for a fleet of active parts is introduced.


Modelling Simulation Planning Self-reconfiguration Modular robotic systems 



This work has been supported by the European Union’s Horizon 2020 research and innovation programme under grant agreement No 688117, and by the European Regional Development Fund under the project Robotics for Industry 4.0 (reg. no. CZ.02.1.01/0.0/0.0/15 003/0000470).


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    Open Source Robotics Foundation: Gazebo (2018).
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    Open Source Robotics Foundation: SDF (2018).
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    Petrš, J., Havelka, J., Florián, M., Novák, J.: MoleMOD - on design specification and applications of a self-reconfigurable constructional robotic system. In: Fioravanti, A., et al. (eds.) ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference, vol. 2, pp. 159–166 (2017)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Faculty of Electrical EngineeringCzech Technical University in PraguePragueCzech Republic
  2. 2.Czech Institute of Informatics, Robotics, and CyberneticsCzech Technical University in PraguePragueCzech Republic
  3. 3.Faculty of ArchitectureCzech Technical University in PraguePragueCzech Republic

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