Distributed aggregation for modular robots in the pivoting cube model
Sebastian Claici, John Romanishin, Jeffrey I. Lipton, Stephane Bonardi, Kyle W. Gilpin, Daniela Rus
Abstract
We present a distributed control strategy for the aggregation of multiple modular robots into one connected structure optimized for use with 3D modular pivoting cube robots such as the 3D M-Blocks [1]. We use the intensity from a light source as input to a decentralized control algorithm that drives the robots together. We describe the algorithm, give provable guarantees on convergence, and discuss experiments carried out in simulation and with a hardware platform of ten 3D M-Blocks modules. In this paper we contribute provably correct algorithms for the aggregation of generic modular robots; we show how these algorithms can be applied on real hardware by evaluating them on the 3D M-Blocks platform.
BibTeX
@inproceedings{icra2017_distributedaggre,
title = {Distributed aggregation for modular robots in the pivoting cube model},
author = {Sebastian Claici and John Romanishin and Jeffrey I. Lipton and Stephane Bonardi and Kyle W. Gilpin and Daniela Rus},
booktitle = {ICRA 2017},
year = {2017}
}