A distributed self-reconfiguration algorithm for cylindrical lattice-based modular robots

International audienceModular self-reconfigurable robots are composed of independent connected modules which can self-rearrange their connectivity using processing, communication and motion capabilities, in order to change the overall robot structure. In this paper, we consider rolling cylindrical modules arranged in a two-dimensional vertical hexagonal lattice. We propose a parallel, asynchronous and fully decentralized distributed algorithm to self-reconfigure robots from an initial configuration to a goal one. We evaluate our algorithm on the millimeter-scale cylindrical robots, developed in the Claytronics project, through simulation of large ensembles composed of up to ten thousand modules. We show the effectiveness of our algorithm and study its performance in terms of communications, movements and execution time. Our observations indicate that the number of communications, the number of movements and the execution time of our algorithm is highly predictable. Furthermore, we observe execution times that are linear in the size of the goal shape

Distributed Prediction of Unsafe Reconfiguration Scenarios of Modular Robotic Programmable Matter

We present a distributed framework for predicting whether a planned reconfiguration step of a modular robot will mechanically overload the structure, causing it to break or lose stability under its own weight. The algorithm is executed by the modular robot itself and based on a distributed iterative solution of mechanical equilibrium equations derived from a simplified model of the robot. The model treats intermodular connections as beams and assumes no-sliding contact between the modules and the ground. We also provide a procedure for simplified instability detection. The algorithm is verified in the Programmable Matter simulator VisibleSim, and in real-life experiments on the modular robotic system Blinky Blocks. © 2004-2012 IEEE

Programming and forming objects with modular robots to enable a programmable matter

International audienceTechnological advances, especially in the miniaturization of robotic devices foreshadow the emergence of large-scale ensembles of small-size resource-constrained robots that distributively cooperate to achieve complex tasks. These ensembles are formed by independent, intelligent and communicating units which act as a whole ensemble which can be used to build programmable matter i.e. matter able to change its shape. In my talk, I will present our research effort in building Programmable Matter (PM) based on modular robots. To do this, we use micro-technology to scale down the size of each element, and we study geometry, structure, actuation, power, electronics and integration. To manage the complexity of this kind of environment, we propose a complete environment including programmable hardware, a programming language, a compiler, a simulator, a debugger and distributed algorithms

VisibleSim: Your simulator for Programmable Matter

International audienceVisibleSim is a 3D simulator for distributed robots in a simulated environments. I propose a short tutorial to write a first distributed code for VisibleSim

A Distributed Algorithm for Reconfiguration of Lattice-Based Modular Self-Reconfigurable Robots

International audienceA modular robots is composed of many independent connected modules which are able to achieve common goals through communications. A modular self-reconfigurable robot can move and reorganize its modules to modify its shape. In this paper, we consider a modular self-reconfigurable robot made from cubic modules (blocks) that are able to slide along their faces. Sliding motions imply complex cooperations, for example, crossing an angle needs at least three synchronized blocks. Based on this kind of hardware, we propose a distributed rule-based algorithm which plans and moves the blocks to reach a final configuration. We propose the use of motion rules that drastically simplify the complexity of the sliding movements and we define a special kind of metamodule to fasten the reconfiguration. We evaluate our algorithm in a simulator in order to study its behavior in the case of large modular robots composed of more than 10,000 modules. We test its robustness with more than 120 different kinds reconfigurations scenarii, representing more than 338 millions of movements for the blocks without any problem

Designing a quasi-spherical module for a huge modular robot to create programmable matter

International audienceThere are many ways to implement programmable matter. One is to build it as a huge modular self-reconfigurable robot composed of a large set of spherical micro-robots, like in the Claytronics project. These micro-robots must be able to stick to each other and move around each other. However, the shape of these micro-robots has not been studied yet and remains a difficult problem as there are numerous constraints to respect. In this article, we propose a quasi-spherical structure for these micro-robots, which answers all the constraints for building programmable matter, helping the realization of an interactive computer-aided design framework. We study different scenarios, validate the ability to move and propose methods for manufacturing these micro-robots

Simulation de flou en synthèse d'images stéréoscopiques pour la réalité virtuelle

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A survey of autonomous self-reconfiguration methods for robot-based programmable matter

International audienceWhile researchers envision exciting applications for metamorphic systems like programmable matter, current solutions to the shape formation problem are still a long way from meeting their requirements. To dive deeper into this issue, we propose an extensive survey of the current state of the art of self/reconfiguration algorithms and underlying models in modular robotic and self-organizing particle systems. We identify three approaches for solving this problem and we compare the different solutions using a synoptic graphical representation. We then close this survey by confronting existing methods to our vision of programmable matter, and by discussing a number of future research directions that would bring us closer to making it a reality

Engineering efficient and massively parallel 3D self-reconfiguration using sandboxing, scaffolding and coating

International audience<div id="d1e436"&gt<p id="d1e437"&gtProgrammable matter based on modular self-reconfigurable robots could stand as the ultimate form of display system, through which humans could not only see the virtual world in 3D, but manipulate it and interact with it through touch. These systems rely on self-reconfiguration processes to reshape themselves and update their representation, using methods that we argue, are currently too slow for such applications due to a lack of <a href="https://www.sciencedirect.com/topics/engineering/parallelism" title="Learn more about parallelism from ScienceDirect's AI-generated Topic Pages" class="topic-link"&gtparallelism</a&gt in the motion of the robotic modules.</p&gt<p id="d1e439"&gtTherefore, we propose a novel approach to the problem, promising faster and more efficient self-reconfigurations in programmable matter display systems. We contend that this can be achieved by using a dedicated platform supporting self-reconfiguration named a <em&gtsandbox</em&gt, acting as a reserve of modules, and by engineering the representation of objects using an internal <em&gtscaffolding</em&gt covered by a <em&gtcoating</em&gt.</p&gt<p id="d1e450"&gtThis paper introduces a complete view of our framework for realizing this approach on quasi-spherical modules arranged in a face-centered cubic lattice. After thoroughly discussing the model, motivations, and making a case for our method, we synthesize results from published research highlighting its benefits and engage in an honest and critical discussion of its current state of implementation and perspectives.</p&gt</div&g