Reconfiguring Metamorphic Robots via SMT: Is It a Viable Way?
| Authors | |
|---|---|
| Year of publication | 2021 |
| Type | Article in Proceedings |
| Conference | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| MU Faculty or unit | |
| Citation | |
| Doi | http://dx.doi.org/10.1109/IROS51168.2021.9636534 |
| Keywords | robots reconfiguration |
| Description | We present a new approach to tackle the problem of lattice-type metamorphic robots reconfiguration. We base our approach on a reduction to satisfiability modulo theory (SMT). Unlike the current state-of-the-art solutions, we consider the spatial limitations of the modules themselves and produce collision-free plans. We give an in-depth description of the reduction and discuss several optimizations for our technique. We also show an experimental evaluation of our approach and list possible future improvements to our technique. |
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