MVGS: A new graph signature for self-reconfiguration planning of modular robots based on Multiple Views Theory
- Authors
- Taheri, K[Taheri, Khalil]; Moradi, H[Moradi, Hadi]; Asadpour, M[Asadpour, Masoud]; Parhami, P[Parhami, Parisa]
- Issue Date
- May-2016
- Publisher
- ELSEVIER SCIENCE BV
- Keywords
- Modular robots; Self-reconfiguration planning (SRP); Graph signature; Multiple Views Theory
- Citation
- ROBOTICS AND AUTONOMOUS SYSTEMS, v.79, pp.72 - 86
- Indexed
- SCIE
SCOPUS
- Journal Title
- ROBOTICS AND AUTONOMOUS SYSTEMS
- Volume
- 79
- Start Page
- 72
- End Page
- 86
- URI
- https://scholarworks.bwise.kr/skku/handle/2021.sw.skku/36744
- DOI
- 10.1016/j.robot.2016.01.012
- ISSN
- 0921-8890
- Abstract
- Self-reconfiguration planning (SRP) of modular robots has been a major research for the past decade and still is a key issue. In this paper, we present a novel new graph signature approach for SRP based on Multiple Views Theory, called MVGS (Multi-View Graph Signature). In the proposed method the time complexity of the graph signature generation reduced to O(log n), in which n is the number of modules, from the best solutions with O(n(2)). Also, we propose a new similarity metric, between graph signatures to better guide the heuristic search toward the final configuration. The proposed approach has been implemented in a simulator and the results show significantly better performance than the other previously proposed methods. (C) 2016 Elsevier B.V. All rights reserved.
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Collections - Information and Communication Engineering > School of Electronic and Electrical Engineering > 1. Journal Articles
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