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Heterogeneous Self-assembling Based on Constraint Satisfaction Problem

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Distributed Autonomous Robotic Systems

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 83))

Abstract

This paper is devoted to a self-assembling of heterogeneous robot modules into specific topological configurations with desired kinematic properties. The approach utilizes a constrained nature of self-assembling and involves constraint satisfaction and constraint optimization techniques for finding optimal connections between modules. Scalability, locality and noise of sensor information as well as environmental dependability are addressed. This approach is implemented in real reconfigurable robots and in simulation.

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Author information

Authors and Affiliations

  1. University of Stuttgart, Stuttgart, Germany

    Serge Kernbach

Authors
  1. Serge Kernbach
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Corresponding author

Correspondence to Serge Kernbach .

Editor information

Editors and Affiliations

  1. EPFL ENAC IIE DISAL, Station 2, Lausanne, 1015, Switzerland

    Alcherio Martinoli

  2. EPFL STI IMT LSRO, Station 9, Lausanne, 1015, Switzerland

    Francesco Mondada

  3. 430 UCB, Engineering Drive 1111, Boulder, 80309, Colorado, USA

    Nikolaus Correll

  4. EPFL ENAC IIE DISAL, Station 2, Lausanne, 1015, Switzerland

    Grégory Mermoud

  5. , Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, 30332, Georgia, USA

    Magnus Egerstedt

  6. , Mechanical Engineering & Mechanics, Drexel University, Randell 115, Chestnut St. 3141, Philadelphia, 19104, Pennsylvania, USA

    M. Ani Hsieh

  7. , Department of Electrical Engineering and, University of Tennessee, Middle Drive 1520, Knoxville, 37996, Tennessee, USA

    Lynne E. Parker

  8. Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Campusvej 55, Odense, 5230, Denmark

    Kasper Støy

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Kernbach, S. (2013). Heterogeneous Self-assembling Based on Constraint Satisfaction Problem. In: Martinoli, A., et al. Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32723-0_35

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  • DOI: https://doi.org/10.1007/978-3-642-32723-0_35

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32722-3

  • Online ISBN: 978-3-642-32723-0

  • eBook Packages: EngineeringEngineering (R0)

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