Algorithms for Modular Self-reconfigurable Robots: Decision Making, Planning, and Learning

[1]  H. Wilf.  generatingfunctionology: Third Edition , 1990 .

[2]  Camillo J. Taylor,et al.  A vision-based formation control framework , 2002, IEEE Trans. Robotics Autom..

[3]  J. Köbler,et al.  The Graph Isomorphism Problem: Its Structural Complexity , 1993 .

[4]  Thomas Schmickl,et al.  A hormone-based controller for evolutionary multi-modular robotics: From single modules to gait learning , 2010, IEEE Congress on Evolutionary Computation.

[5]  Andres Upegui,et al.  Exploring adaptive locomotion with YaMoR, a novel autonomous modular robot with Bluetooth interface , 2006, Ind. Robot.

[6]  Carl A. Nelson,et al.  Real-time distributed configuration discovery of modular self-reconfigurable robots , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[7]  Carl A. Nelson,et al.  searchUCSG: a fast coalition structure search algorithm for modular robot reconfiguration under uncertainty , 2014, Robotica.

[8]  Zack J. Butler,et al.  Million Module March: Scalable Locomotion for Large Self-Reconfiguring Robots , 2008, Int. J. Robotics Res..

[9]  T. Akutsu.  A Polynomial Time Algorithm for Finding a Largest Common Subgraph of almost Trees of Bounded Degree , 1993 .

[10]  Radhika Nagpal,et al.  Three-Dimensional Construction with Mobile Robots and Modular Blocks , 2008, Int. J. Robotics Res..

[11]  Carl A. Nelson,et al.  Design of a Four-DOF Modular Self-Reconfigurable Robot With Novel Gaits , 2011 .

[12]  Ayan Dutta.  Self-Assembly in Heterogeneous Multi-agent System Using Constrained Matching Algorithm , 2016, 2016 IEEE/WIC/ACM International Conference on Web Intelligence (WI).

[13]  H. Kurokawa,et al.  Automatic locomotion design and experiments for a Modular robotic system , 2005, IEEE/ASME Transactions on Mechatronics.

[14]  Shlomo Zilberstein,et al.  Using Anytime Algorithms in Intelligent Systems , 1996, AI Mag..

[15]  Satoshi Murata,et al.  Distributed Self-Reconfiguration of M-TRAN III Modular Robotic System , 2008, Int. J. Robotics Res..

[16]  Alkis Gotovos,et al.  Fully autonomous focused exploration for robotic environmental monitoring , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[17]  Richard M. Karp,et al.  A n^5/2 Algorithm for Maximum Matchings in Bipartite Graphs , 1971, SWAT.

[18]  Antoine Cully,et al.  Robots that can adapt like animals , 2014, Nature.

[19]  U. Brandes.  A faster algorithm for betweenness centrality , 2001 .

[20]  Carl A Nelson.  A framework for self -reconfiguration planning for unit -modular robots , 2005 .

[21]  Hod Lipson,et al.  Fluidic manipulation for scalable stochastic 3D assembly of modular robots , 2010, 2010 IEEE International Conference on Robotics and Automation.

[22]  Keeley A. Crockett,et al.  Systems Engineering and Conversational Agents , 2011 .

[23]  Carl A. Nelson,et al.  Distributed Adaptive Locomotion Learning in ModRED Modular Self-reconfigurable Robot , 2016, DARS.

[24]  Aude Billard,et al.  Graph signature for self-reconfiguration planning , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[25]  Daniel Kudenko,et al.  Reinforcement learning of coordination in cooperative multi-agent systems , 2002, AAAI/IAAI.

[26]  Ian A. Hiskens,et al.  Stability of hybrid system limit cycles: application to the compass gait biped robot , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[27]  Nicholas R. Jennings,et al.  An improved dynamic programming algorithm for coalition structure generation , 2008, AAMAS.

[28]  David Johan Christensen,et al.  A distributed strategy for gait adaptation in modular robots , 2010, 2010 IEEE International Conference on Robotics and Automation.

[29]  Gregory S. Chirikjian,et al.  Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics] , 2007, IEEE Robotics & Automation Magazine.

[30]  Michael L. Littman,et al.  Markov Games as a Framework for Multi-Agent Reinforcement Learning , 1994, ICML.

[31]  Prithviraj Dasgupta,et al.  Simultaneous configuration formation and information collection by modular robotic systems , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[32]  Nikolaus Correll,et al.  Modeling and designing self-organized aggregation in a swarm of miniature robots , 2011, Int. J. Robotics Res..

[33]  Wei-Min Shen,et al.  Graph-based optimal reconfiguration planning for self-reconfigurable robots , 2014, Robotics Auton. Syst..

[34]  QUAZI EHSANUL KABIR MAMUN,et al.  Modified Bully Algorithm for Electing Coordinator in Distributed Systems , 2004 .

[35]  Ellips Masehian,et al.  Modular robotic systems: Methods and algorithms for abstraction, planning, control, and synchronization , 2015, Artif. Intell..

[36]  Wei-Min Shen,et al.  Docking in self-reconfigurable robots , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[37]  Sruti Gan Chaudhuri,et al.  Circle Formation by Asynchronous Fat Robots with Limited Visibility , 2012, ICDCIT.

[38]  Andreas Krause,et al.  Near-optimal sensor placements in Gaussian processes , 2005, ICML.

[39]  Manuela M. Veloso,et al.  Multiagent learning using a variable learning rate , 2002, Artif. Intell..

[40]  Howie Choset,et al.  Motion estimation of snake robots in straight pipes , 2013, 2013 IEEE International Conference on Robotics and Automation.

[41]  Auke Jan Ijspeert,et al.  Controlling swimming and crawling in a fish robot using a central pattern generator , 2008, Auton. Robots.

[42]  Steven W. Reyner,et al.  An Analysis of a Good Algorithm for the Subtree Problem , 1977, SIAM J. Comput..

[43]  C. Marsden,et al.  Human walking and higher‐level gait disorders, particularly in the elderly , 1993, Neurology.

[44]  Kasper Stoy,et al.  Self-Reconfigurable Robots: An Introduction , 2010 .

[45]  Carl A. Nelson,et al.  RoGenSiD: A Rotary Plate Genderless Single-Sided Docking Mechanism for Modular Self-Reconfigurable Robots , 2013 .

[46]  Mario Vento,et al.  A (sub)graph isomorphism algorithm for matching large graphs , 2004, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[47]  Marco Dorigo,et al.  Autonomous Self-Assembly in Swarm-Bots , 2006, IEEE Transactions on Robotics.

[48]  Sarit Kraus,et al.  Methods for Task Allocation via Agent Coalition Formation , 1998, Artif. Intell..

[49]  H. Kuhn.  The Hungarian method for the assignment problem , 1955 .

[50]  Auke Jan Ijspeert,et al.  Central pattern generators for locomotion control in animals and robots: A review , 2008, Neural Networks.

[51]  Martin Lauer,et al.  An Algorithm for Distributed Reinforcement Learning in Cooperative Multi-Agent Systems , 2000, ICML.

[52]  Carl A. Nelson,et al.  A bottom-up search algorithm for size-constrained partitioning of modules to generate configurations in modular robots , 2016, Web Intell..

[53]  Dirk Bucher.  Central Pattern Generators , 2009 .

[54]  J. Reif,et al.  DNA-Templated Self-Assembly of Protein Arrays and Highly Conductive Nanowires , 2003, Science.

[55]  Sandip Sen,et al.  Searching for optimal coalition structures , 2000, Proceedings Fourth International Conference on MultiAgent Systems.

[56]  David Johan Christensen,et al.  A distributed and morphology-independent strategy for adaptive locomotion in self-reconfigurable modular robots , 2013, Robotics Auton. Syst..

[57]  Auke Jan Ijspeert,et al.  Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization , 2008, Int. J. Robotics Res..

[58]  Carl A. Nelson,et al.  Kinematics and interfacing of ModRED: A self-healing capable, 4DOF modular self-reconfigurable robot , 2014 .

[59]  David E. Goldberg,et al.  Genetic algorithms and Machine Learning , 1988, Machine Learning.

[60]  E. Klavins,et al.  Programmable Self-Assembly , 2007, IEEE Control Systems.

[61]  Peter Norvig,et al.  Artificial Intelligence: A Modern Approach , 1995 .

[62]  Eiichi Yoshida,et al.  Distributed adaptive locomotion by a modular robotic system, M-TRAN II , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[63]  Yoav Shoham,et al.  Multiagent Systems - Algorithmic, Game-Theoretic, and Logical Foundations , 2009 .

[64]  Roger B. Myerson,et al.  Game theory - Analysis of Conflict , 1991 .

[65]  Sruti Gan Chaudhuri,et al.  Circle Formation by Asynchronous Transparent Fat Robots , 2013, ICDCIT.

[66]  Prithviraj Dasgupta,et al.  Bipartite graph matching-based coordination mechanism for multi-robot path planning under communication constraints , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[67]  P. Meier,et al.  Variance of a Weighted Mean , 1953 .

[68]  Onn Shehory,et al.  Coalition structure generation with worst case guarantees , 2022 .

[69]  Emil Grosswald,et al.  The Theory of Partitions , 1984 .

[70]  Henrik Gordon Petersen,et al.  Distributed motion planning for modular robots , 2001, SPIE Optics East.

[71]  George A. Bekey,et al.  Genetic Algorithms for Gait Synthesis in a Hexapod Robot , 1994 .

[72]  Carl A. Nelson,et al.  A block partitioning algorithm for modular robot reconfiguration under uncertainty , 2013, 2013 European Conference on Mobile Robots.

[73]  Mark H. Yim,et al.  Locomotion With A Unit-Modular Reconfigurable Robot , 1995 .

[74]  Dimitri P. Bertsekas,et al.  The Auction Algorithm for Assignment and Other Network Flow Problems: A Tutorial , 1990 .

[75]  Karl Tuyls,et al.  Evolutionary Dynamics of Multi-Agent Learning: A Survey , 2015, J. Artif. Intell. Res..

[76]  Radhika Nagpal,et al.  Programmable self-assembly in a thousand-robot swarm , 2014, Science.

[77]  Ronald M. Harstad,et al.  Computationally Manageable Combinational Auctions , 1998 .

[78]  Carl A. Nelson,et al.  ModRED: Hardware design and reconfiguration planning for a high dexterity modular self-reconfigurable robot for extra-terrestrial exploration , 2014, Robotics Auton. Syst..

[79]  Masafumi Yamashita,et al.  Agreement on a Common X - Y Coordinate System by a Group of Mobile Robots , 1996, Intelligent Robots.

[80]  Rami Puzis,et al.  Potential-based bounded-cost search and Anytime Non-Parametric A* , 2014, Artif. Intell..

[81]  G. Chirikjian,et al.  Evaluating efficiency of self-reconfiguration in a class of modular robots , 1996 .

[82]  Andrew W. Moore,et al.  Reinforcement Learning: A Survey , 1996, J. Artif. Intell. Res..

[83]  G. Whitesides,et al.  Self-Assembly at All Scales , 2002, Science.

[84]  Vladimir Ufimtsev,et al.  Dynamic reconfiguration in modular robots using graph partitioning-based coalitions , 2012, AAMAS.

[85]  Julian R. Ullmann,et al.  An Algorithm for Subgraph Isomorphism , 1976, J. ACM.

[86]  Alfred V. Aho,et al.  The Design and Analysis of Computer Algorithms , 1974 .

[87]  Carl A. Nelson,et al.  Coordination of Modular Robots by Means of Topology Discovery and Leader Election: Improvement of the Locomotion Case , 2014, DARS.

[88]  Rob Sherwood,et al.  The EO-1 Autonomous Sciencecraft , 2007 .

[89]  Richard S. Sutton,et al.  Reinforcement Learning: An Introduction , 1998, IEEE Trans. Neural Networks.

[90]  Peter Willett,et al.  Maximum common subgraph isomorphism algorithms for the matching of chemical structures , 2002, J. Comput. Aided Mol. Des..

[91]  A. Castano,et al.  The Conro modules for reconfigurable robots , 2002 .

[92]  Sarvapali D. Ramchurn,et al.  An Anytime Algorithm for Optimal Coalition Structure Generation , 2014, J. Artif. Intell. Res..

[93]  Paul A. Beardsley,et al.  Multi-robot system for artistic pattern formation , 2011, 2011 IEEE International Conference on Robotics and Automation.

[94]  Kian Hsiang Low,et al.  Decentralized active robotic exploration and mapping for probabilistic field classification in environmental sensing , 2012, AAMAS.

[95]  Carl A. Nelson,et al.  Spanning Tree Partitioning Approach for Configuration Generation in Modular Robots , 2015, FLAIRS Conference.

[96]  Olivier Michel,et al.  Cyberbotics Ltd. Webots™: Professional Mobile Robot Simulation , 2004, ArXiv.

[97]  Carl A. Nelson,et al.  A Bottom-Up Search Algorithm for Dynamic Reformation of Agent Coalitions under Coalition Size Constraints , 2013, 2013 IEEE/WIC/ACM International Joint Conferences on Web Intelligence (WI) and Intelligent Agent Technologies (IAT).

[98]  Ron Shamir,et al.  Faster subtree isomorphism , 1997, Proceedings of the Fifth Israeli Symposium on Theory of Computing and Systems.

[99]  Wei-Min Shen,et al.  On the complexity of optimal reconfiguration planning for modular reconfigurable robots , 2010, 2010 IEEE International Conference on Robotics and Automation.

[100]  Wei-Min Shen,et al.  Hormone-inspired adaptive communication and distributed control for CONRO self-reconfigurable robots , 2002, IEEE Trans. Robotics Autom..