Abstractions for Simplifying Planning in Self-Reconfigurable Robotic Systems

Dartmouth Technical Report PCS-TR98-342

	Craig McGray
	Daniela Rus

Date: October 1998

URL (PDF): <http://www.cs.dartmouth.edu/reports/TR98-342.pdf> (820KB)

Abstract:
 In [KVRM], we described a three-dimensional self-reconfiguring robot module called the Molecule Robot.  
     In this paper, we provide a system of abstractions for modules in self-reconfigurable robotic systems, and show how this system can be used to simplify the motion planning of the Molecule Robot system.