An Efficient Parallel Self-assembly Planning Algorithm for Modular Robots in Environments with Obstacles
Lianxin Zhang Zhang-Hua Fu Hengli Liu Qingquan Liu Xiaoqiang Ji Huihuan Qian Lianxin Zhang Zhang-Hua Fu Hengli Liu Qingquan Liu Xiaoqiang Ji Huihuan Qian
Self-assembly has attracted growing interests in modular robotics during past decades. Recent work accelerates the assembly process by parallelizing the docking actions among robots. However, these methods can only apply to ideal environments without obstacles. Otherwise, robots will get trapped during the assembly process, due to the complex scenes with obstacles. This paper presents an efficient...