The Method of the Kinematic Structure Reconfiguration of a Multifunctional Modular Robot Based on the Greedy Algorithm

被引：2
|
作者：
Petrenko, Vyacheslav [1 ]
Tebueva, Fariza [1 ]
Pavlov, Andrey [1 ]
Gurchinsky, Mikhail [1 ]
机构：
[1] North Caucasus Fed Univ, Inst Informat Technol & Telecommun, Stavropol, Russia
来源：
12TH INTERNATIONAL CONFERENCE ON THE DEVELOPMENTS IN ESYSTEMS ENGINEERING (DESE 2019) | 2019年
关键词：
modular robotics; self-reconfiguration; group control; multi-agent system;
D O I：
10.1109/DeSE.2019.00018
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
The aim of the article is to provide a quick reconfiguration of a large group of robots. To solve the problem, it is proposed to use a decentralized control in the form of a multi-agent system. Each agent performs movement planning based on a greedy algorithm. The simulation showed the effectiveness of the proposed method. In the future, it is planned to increase the reliability of the proposed method and its complexity for working with more complex configurations.
引用
收藏
页码：42 / 47
页数：6
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