Genetic Programming-based Self-reconfiguration Planning for Metamorphic Robot

doi:10.1007/s11633-016-1049-4

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	Genetic Programming-based Self-reconfiguration Planning for Metamorphic Robot
	Tarek Ababsa 1; Noureddine Djedl 1; Yves Duthen 2
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2018
卷号	15 期号:4 页码:431-442
摘要	This paper presents a genetic programming based reconfiguration planner for metamorphic modular robots. Initially used for evolving computer programs that can solve simple problems, genetic programming (GP) has been recently used to handle various kinds of problems in the area of complex systems. This paper details how genetic programming can be used as an automatic programming tool for handling reconfiguration-planning problem. To do so, the GP evolves sequences of basic operations which are required for transforming the robots geometric structure from its initial configuration into the target one while the total number of modules and their connectedness are preserved. The proposed planner is intended for both Crystalline and TeleCube modules which are achieved by cubical compressible units. The target pattern of the modular robot is expressed in quantitative terms of morphogens diffused on the environment. Our work presents a solution for self reconfiguration problem with restricted and unrestricted free space available to the robot during reconfiguration. The planner outputs a near optimal explicit sequence of low-level actions that allows modules to move relative to each other in order to form the desired shape.
关键词	Modular robots unit-compressible modules self-reconfiguration genetic programming reconfiguration planning.
DOI	10.1007/s11633-016-1049-4
引用统计	被引频次：5[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42421
专题	学术期刊_Machine Intelligence Research
作者单位	1.LESIA Laboratory, University of Biskra, PO Box 145 RP, Biskra 07000, Algerla 2.IRIT Laboratory, University of Toulouse 1 Capitole, 21 Alles de Brinne, Toulouse 31032, France
推荐引用方式 GB/T 7714	Tarek Ababsa,Noureddine Djedl,Yves Duthen. Genetic Programming-based Self-reconfiguration Planning for Metamorphic Robot[J]. International Journal of Automation and Computing,2018,15(4):431-442.
APA	Tarek Ababsa,Noureddine Djedl,&Yves Duthen.(2018).Genetic Programming-based Self-reconfiguration Planning for Metamorphic Robot.International Journal of Automation and Computing,15(4),431-442.
MLA	Tarek Ababsa,et al."Genetic Programming-based Self-reconfiguration Planning for Metamorphic Robot".International Journal of Automation and Computing 15.4(2018):431-442.

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