Optimal topological transformation of underwater modular self-reconfigurable robots
Optimal topological transformation of underwater modular self-reconfigurable robots
Underwater Modular Self-Reconfigurable robots, made up of many identical modules, can adjust their configurations to multiple underwater environments or tasks. They can be used in many complex underwater occasions where the ROVs/AUVs (Remotely Operated Vehicle/Autonomous Underwater Vehicle) can't work well. However, their reconfiguration is difficult because this has to involve many connection adding and removing operations which are difficult to be executed in the underwater environment. To reduce the times of these operations, the theory of TT (Topological Transformation) is proposed, which includes some definitions in TT, the basic approach to TT, and the genetic algorithm based solution for the optimal TT.
Dokumentinformationen
Optimal topological transformation of underwater modular self-reconfigurable robots
Optimale, topologische Transformation von modularen, selbstständig neu konfigurierbaren Unterwasserrobotern
Robotica ; 23 , 5 ; 581-594
2005
14 Seiten, 21 Quellen
Aufsatz (Zeitschrift)
Englisch