An integrated system for perception-driven autonomy with modular robots

@article{Daudelin2017AnIS,
  title={An integrated system for perception-driven autonomy with modular robots},
  author={Jonathan A. Daudelin and Gangyuan Jing and Tarik Tosun and Mark H. Yim and Hadas Kress-Gazit and Mark E. Campbell},
  journal={Science Robotics},
  year={2017},
  volume={3}
}
A robot autonomously completes tasks by transforming its body to match its capabilities to newly encountered environments. The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot system capable of autonomously completing high-level tasks by reactively reconfiguring to meet the needs of a perceived, a priori… 
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62 Citations

Accomplishing high-level tasks with modular robots

An integrated system for addressing high-level tasks with modular robots, extending the original system to include environmentally adaptive parametric behaviors, which integrate motion planners and feedback controllers with the system.

Accomplishing high-level tasks with modular robots

This paper presents an integrated system for addressing high-level tasks with modular robots, and demonstrates that it is capable of accomplishing challenging, multi-part tasks in hardware experiments.

Perception-Informed Autonomous Environment Augmentation with Modular Robots

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A Framework for Taxonomy and Evaluation of Self-Reconfigurable Robotic Systems

A framework for taxonomy and evaluation (TAEV) of self-reconfigurable robots, based on the mechanism reconfigurability and the level of autonomy for reconfiguration is put forward.

Mapless Navigation of Modular Mobile Robots using Deep Reinforcement Learning

A novel mapless navigation framework which contains a two-level planner based on deep reinforcement learning (DRL) which allows modular mobile robots to use raw sensory information to efficiently explore and accomplish multitask in unknown environments.

AutoFac: The Perpetual Robot Machine

The proposed embodied artificial-life factories and laboratories, termed AutoFac, use robot production equipment run by artificial evolution controllers to collect and synthesize environmental information (from robotic sensory systems) to create new robot embodiment and task definitions that are environmentally adapted and balance task-oriented behavior with exploration.

Autonomous Docking of Hybrid-Wheeled Modular Robots With an Integrated Active Genderless Docking Mechanism

The overall mechanical design and the integration details of the modular robotic module with the docking mechanism are presented and an overview of the autonomous tracking and docking algorithm is presented along with a proof-of-concept real-world demonstration of autonomous docking and self-reconfigurability.

Roombots extended: Challenges in the next generation of self-reconfigurable modular robots and their application in adaptive and assistive furniture

...

References

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