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MVGS A new graph signature for self-reconfiguration planning of modular robots based on Multiple Views Theory.pdf

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MVGS A new graph signature for self-reconfiguration planning of modular robots based on Multiple Views Theory.pdf

Robotics and Autonomous Systems 79 (2016) 72–86 Contents lists available at ScienceDirect Robotics and Autonomous Systems journal homepage: /locate/robot MVGS: A new graph signature for self-reconfiguration planning of modular robots based on Multiple Views Theory Khalil Taheri a,?, Hadi Moradi a,b, Masoud Asadpour a, Parisa Parhami a a Advanced Robotics and Intelligent Systems Laboratory, School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Tehran, Iran b Intelligent Systems Research Institute (ISRI), SKKU, South Korea highlights ? A new graph signature for self-reconfiguration planning of modular robots is proposed. ? The Multi-View Graph Signature (MVGS) is inspired from Multiple Views Theory. ? A new similarity metric between two configuration graphs is proposed based on MVGS. ? The approach is evaluated on reconfiguration planning of M-TRAN and SuperBot modules. ? Results show the approach performs significantly much better than the previous works. article info Article history: Received 16 April 2015 Received in revised form 3 December 2015 Accepted 15 January 2016 Available online 22 February 2016 Keywords: Modular robots Self-reconfiguration planning (SRP) Graph signature Multiple Views Theory abstract Self-reconfiguration planning (SRP) of modular robots has been a major research for the past decade and still is a key issue. In this paper, we present a novel new graph signature approach for SRP based on Multiple Views Theory, called MVGS (Multi-View Graph Signature). In the proposed method the time complexity of the graph signature generation reduced to O(log n), in which n is the number of modules, from the best solutions with O(n2). Also, we propose a new similarity metric, between graph signatures to better guide the heuristic search toward the final configuration. The proposed approach has been implemented in a simulator and the results show significantly better performance than the other previously proposed method