Proceedings Article10.1109/SASOW.2008.42
Spatial Computing with Labels
Ulrik Pagh Schultz,Mirko Bordignon,David Johan Christensen,Kasper Stoy +3 more
- 20 Oct 2008
- pp 326-331
TL;DR: This position paper investigates a simple approach to allow the programmer to abstract over the concrete shape of a robot using the notion of a label as a simple means of addressing various parts of the structure of a robots.
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Abstract: A reconfigurable robot is a robot that can change shape. Programming reconfigurable robots is complicated by the need to adapt the behavior of each of the individual module to the overall physical shape of the robot. In this position paper, we investigate a simple approach to allow the programmer to abstract over the concrete shape of a robot using the notion of a label as a simple means of addressing various parts of the structure of a robot. Labels provide the programming language designer with a means of stratifying two main components of a spatial programming language for modular robots, namely specifying the physical structure of a robot and specifying its behavior. Based on previous experience with the ATRON robot, we find that labels are a useful concept for programming modular robots.
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Citations
Representing and reasoning with the internet of things: a modular rule-based model for ensembles of context-aware smart things
Seng Wai Loke
- 09 Mar 2016
TL;DR: This work presents Sigma, a language of operators, inspired from modular logic programming, for specifying and reasoning with combined behaviours among smart things in a thing-ensemble, and contends that the operator approach abstracts away low-level communication and protocol details, and allows systems of context-aware things to be designed and built in a compositional and incremental manner.
Generalized programming of modular robots through kinematic configurations
Mirko Bordignon,Kasper Stoy,Ulrik Pagh Schultz +2 more
- 05 Dec 2011
TL;DR: This work proposes a high-level programming language that provides kinematic abstractions for arbitrary modular robots, in contrast to the robot-specific solutions currently available, and a programming abstraction to subsume multiple kinematically equivalent robot assemblies into a so-called kinematics configuration, hence eliminating the need to explicitly enumerate and program each of them.
The MetaForma Language: A DSL to Program the ATRON Self-Reconfigurable Robot
W. Van Koppen
- 21 Mar 2013
TL;DR: This work believes that a domain-specific language is needed to be able to program robot behavior on a higher, more productive level and implements a prototype for a new DSL, called MetaForma, for the ATRON robot.
References
PolyBot: a modular reconfigurable robot
Mark Yim,David G. Duff,Kimon Roufas +2 more
- 24 Apr 2000
TL;DR: PolyBot is the first robot to demonstrate sequentially two topologically distinct locomotion modes by self-reconfiguration, and as the design evolves the issues of low cost and robustness will be resolved while exploring the potential of modular, self- reconfigurable robots.
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Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules
Daniela Rus,Marsette Vona +1 more
TL;DR: A robotic system composed of Crystalline modules, which can aggregate together to form distributed robot systems, is discussed and an algorithm for general self-reconfiguration is presented.
Modular ATRON: modules for a self-reconfigurable robot
M.W. Jorgensen,Esben Hallundbæk Østergaard,Henrik Hautop Lund +2 more
- 28 Sep 2004
TL;DR: The mechanical and electrical design of a new lattice based self-reconfigurable robot, called the ATRON, which consists of several fully self-contained robot modules, each having their own processing power, power supply, sensors and actuators is described.
352
Hardware design of modular robotic system
Satoshi Murata,Eiichi Yoshida,Kohji Tomita,Haruhisa Kurokawa,Akiya Kamimura,Shigeru Kokaji +5 more
- 31 Oct 2000
TL;DR: The hardware design of a novel self-reconfigurable robotic system which functions as a robotic system such as a legged walking machine and its simple structure and reliable operation allows it to construct large 3D self- reconfigurable structure.
Autonomous and Self-Sufficient CONRO Modules for Reconfigurable Robots
Andres Castano,Ramesh Chokkalingam,Peter Will +2 more
- 01 Jan 2000
TL;DR: An overview of the first generation of the Conro modules, a complete autonomous and self-contained robot with its own processor, power supply, communication system, sensors and actuators is presented.
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