A Distributed Reconfiguration Strategy for Target Enveloping with Hexagonal Metamorphic Modules

摘要：

The paper studies the problem of a group of hexagonal-shaped metamorphic modules enveloping a static one-cell target. A distributed reconfiguration strategy is proposed for each module to achieve the objective. The strategy guarantees that the system successfully evolves without collisions despite of the absence of centralized planning and global information exchange. The correctness of the algorithm is verified theoretically. An upper-bound of converging time based on the proposed algorithm is provided as well. Simulations well validate the results we obtain.

作者: Yizhou Miao Gangfeng Yan Zhiyun Lin

作者单位: Asus Intelligent Systems Lab,College of Electrical Engineering,Zhejiang University,38 Zheda Road,Hangzhou,310027 P. R.China

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4804-4809

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）