Title:
3D reconfiguration using graph grammars for modular robotics

dc.contributor.advisor Egerstedt, Magnus B.
dc.contributor.author Pickem, Daniel en_US
dc.contributor.committeeMember Shamma, Jeff
dc.contributor.committeeMember Patricio Antonio Vela
dc.contributor.department Electrical and Computer Engineering en_US
dc.date.accessioned 2012-06-06T16:50:59Z
dc.date.available 2012-06-06T16:50:59Z
dc.date.issued 2011-12-16 en_US
dc.description.abstract The objective of this thesis is to develop a method for the reconfiguration of three-dimensional modular robots. A modular robot is composed of simple individual building blocks or modules. Each of these modules needs to be controlled and actuated individually in order to make the robot perform useful tasks. The presented method allows us to reconfigure arbitrary initial configurations of modules into any pre-specified target configuration by using graph grammar rules that rely on local information only. Local in a sense that each module needs just information from neighboring modules in order to decide its next reconfiguration step. The advantage of this approach is that the modules do not need global knowledge about the whole configuration. We propose a two stage reconfiguration process composed of a centralized planning stage and a decentralized, rule-based reconfiguration stage. In the first stage, paths are planned for each module and then rewritten into a ruleset, also called a graph grammar. Global knowledge about the configuration is available to the planner. In stage two, these rules are applied in a decentralized fashion by each node individually and with local knowledge only. Each module can check the ruleset for applicable rules in parallel. This approach has been implemented in Matlab and currently, we are able to generate rulesets for arbitrary homogeneous input configurations. en_US
dc.description.degree MS en_US
dc.identifier.uri http://hdl.handle.net/1853/43742
dc.publisher Georgia Institute of Technology en_US
dc.subject Rule-based reconfiguration en_US
dc.subject Self-reconfiguration en_US
dc.subject Distributed robotics en_US
dc.subject Graph grammars en_US
dc.subject Self-assembly en_US
dc.subject Rulesets en_US
dc.subject.lcsh Robots
dc.subject.lcsh Adaptive control systems
dc.subject.lcsh Robotics
dc.title 3D reconfiguration using graph grammars for modular robotics en_US
dc.type Text
dc.type.genre Thesis
dspace.entity.type Publication
local.contributor.advisor Egerstedt, Magnus B.
local.contributor.author Egerstedt, Magnus B.
local.contributor.corporatename School of Electrical and Computer Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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