Implementing Flexible Parallelism for Modular Self-reconfigurable Robots

  • Mirko Bordignon
  • Lars Lindegaard Mikkelsen
  • Ulrik Pagh Schultz
Conference paper

DOI: 10.1007/978-3-540-89076-8_15

Part of the Lecture Notes in Computer Science book series (LNCS, volume 5325)
Cite this paper as:
Bordignon M., Mikkelsen L.L., Schultz U.P. (2008) Implementing Flexible Parallelism for Modular Self-reconfigurable Robots. In: Carpin S., Noda I., Pagello E., Reggiani M., von Stryk O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2008. Lecture Notes in Computer Science, vol 5325. Springer, Berlin, Heidelberg

Abstract

Modular self-reconfigurable robots are drawing increasing interest due to their nature as a versatile, resilient and potentially cost-effective tool. Programming modular self-reconfigurable robots is however complicated by the need for closely coordinating the actions of each module with those of its neighbors. In this paper, we investigate the need for a flexible set of concurrency primitives with which to express control algorithms, while respecting the constraints posed by the physical structure. We present two solutions for the ATRON self-reconfigurable robot built over TinyOS and the Java Virtual Machine. Both solutions are based on the principle of split-phase operations, and both address the need for a structured, language-neutral way to express the desired control flow, while retaining the flexibility needed to efficiently cope with the constraints specific to highly physically concurrent robotic systems.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Mirko Bordignon
    • 1
  • Lars Lindegaard Mikkelsen
    • 1
  • Ulrik Pagh Schultz
    • 1
  1. 1.Maersk Institute – Modular Robotics LabUniversity of Southern DenmarkOdense MDenmark

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