Distributed locomotion algorithms for self-reconfigurable robots operating on rough terrain

@inproceedings{Butler2003DistributedLA,
  title={Distributed locomotion algorithms for self-reconfigurable robots operating on rough terrain},
  author={Zack J. Butler and Daniela Rus},
  booktitle={CIRA},
  year={2003}
}
In this paper, we describe a set of distributed algorithms for self-reconfiguring modular robots that allow them to explore an area in parallel. The algorithms are based on geometric rules that each module evaluates independently relative to its local neighborhood. This paper concentrates on developing algorithms within this framework to enable travel over the widest variety of terrain. In particular, we show how to perform straight-line motion, turning while on obstacles, climbing over tall… CONTINUE READING
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