Distributed Localization of Modular Robot Ensembles Export

@article{funiak-etal-ijrr09, abstract = {Internal localization, the problem of estimating relative pose for each module of a modular robot, is a prerequisite for many shape control, locomotion, and actuation algorithms. In this paper, we propose a robust hierarchical approach that uses normalized cut to identify dense sub-regions with small mutual localization error, then progressively merges those sub-regions to localize the entire ensemble. Our method works well in both two and three dimensions, and requires neither exact measurements nor rigid inter-module connectors. Most of the computations in our method can be distributed effectively. The result is a robust algorithm that scales to large ensembles. We evaluate our algorithm in two- and three-dimensional simulations of scenarios with up to 10,000 modules. 10.1177/0278364909339077}, author = {Funiak, Stanislav and Pillai, Padmanabhan and Ashley-Rollman, Michael P. and Campbell, Jason D. and Goldstein, Seth C.}, citeulike-article-id = {5467857}, citeulike-linkout-0 = {http://dx.doi.org/10.1177/0278364909339077}, citeulike-linkout-1 = {http://ijr.sagepub.com/cgi/content/abstract/28/8/946}, day = {1}, doi = {10.1177/0278364909339077}, journal = {The International Journal of Robotics Research}, keywords = {distributed, localization}, month = {August}, number = {8}, pages = {946--961}, posted-at = {2009-08-18 16:38:44}, priority = {2}, title = {Distributed Localization of Modular Robot Ensembles}, url = {http://dx.doi.org/10.1177/0278364909339077}, volume = {28}, year = {2009} }

TY - JOUR ID - funiak-etal-ijrr09 L3 - citeulike-article-id:5467857 N2 - Internal localization, the problem of estimating relative pose for each module of a modular robot, is a prerequisite for many shape control, locomotion, and actuation algorithms. In this paper, we propose a robust hierarchical approach that uses normalized cut to identify dense sub-regions with small mutual localization error, then progressively merges those sub-regions to localize the entire ensemble. Our method works well in both two and three dimensions, and requires neither exact measurements nor rigid inter-module connectors. Most of the computations in our method can be distributed effectively. The result is a robust algorithm that scales to large ensembles. We evaluate our algorithm in two- and three-dimensional simulations of scenarios with up to 10,000 modules. 10.1177/0278364909339077 IS - 8 JF - The International Journal of Robotics Research EP - 961 TI - Distributed Localization of Modular Robot Ensembles VL - 28 SP - 946 KW - distributed KW - localization AU - Funiak, Stanislav AU - Pillai, Padmanabhan AU - Ashley-Rollman, Michael AU - Campbell, Jason AU - Goldstein, Seth PY - 2009/08/01/ UR - http://dx.doi.org/10.1177/0278364909339077 ER -