Modelling, Simulation, and Planning for the MoleMOD System

MoleMOD is a heterogeneous self-reconfigurable modular robotic system to be employed in architecture and civil engineering. In this paper we present two components of the MoleMOD infrastructure - a test environment and a planning algorithm. The test environment for simulation and visualization of active parts as well as passive blocks of MoleMOD is based on Gazebo - a powerful general-purpose robotic simulator. The key effort has been put into preparation of realistic models of passive and active components taking into account their physical characteristics. Moreover, given a starting configuration of the MoleMOD system and a final configuration an approach to plan collision-free trajectories for a fleet of active parts is introduced

Planning for the MoleMOD system

Tato diplomová práce se zabývá návrhem plánovacího algoritmu pro modulární robotický systém MoleMOD. V úvodní části obsahuje popis systému MoleMOD. V další části je zavedena terminologie použitá pro popis problematiky týkající se omezení a pravidel návrhu algoritmu. Následuje návrh samotného algoritmu, který je rozdělen do tří častí: třídění, plánování a optimalizace. V závěrečných kapitolách je popis implementace algoritmu a zhodnocení výsledků testování daného algoritmu.This diploma thesis deals with design of planning algorithm for modular robotic system MoleMOD. The introductory part contains a description of the MoleMOD system. The next part introduces terminology used to describe problems related to constraints and algorithm design rules. The following part describes the design of the algorithm itself, which is divided into three parts: sorting, planning and optimization. In the final chapters there is a description of the implementation of the algorithm and evaluation of the results of the algorithm testing