Abstract:This paper defines the basic concept of configuration topological transformation of underwater modular self-reconfigurable robots, and sums up the discipline of the optimal topological transformation. Then a genetic algorithm is employed to the topological transformation optimization, which effectively reduces connection and disconnection times in the self-reconfiguration.
[1] Bojinov H, Casal A, Hogg T. Multiagent control of self-reconfigurable robots[A]. Proceedings of the Fourth International Conference on MultiAgent Systems [C]. 2000. 143-150. [2] Bojinov H, Casal A, Hogg T. Emergent structures in modular selfreconfigurable robots [A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. 2000, vol. 2. 1734-1741. [3] Shen W M, Salemi B, Will P. Hormone-inspired adaptive communication and distributed control for CONRO self-reconfigurable robots[J]. IEEE Transactions on Robotics and Automation, 2002,18(5):700-712. [4] Castano A, Will P. Representing and discovering the configuration of Conro robots[A]. Proceedings of the IEEE Intemational Conference on Robotics and Automation[C]. 2001, vol. 4. 3503-3509. [5] Sub J W, Homans S B, Yim M. Telecubes:mechanical design of a module for self-reconfigurable robotics[A]. Proceedings of the IEEE International Conference on Robotics and Automation [C]. 2002, vol. 4.4095-4101. [6] Vassilvitskii S, Yim M, Suh J. A complete, local and parallel reconfiguration algorithm for cube style modular robots[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C].2002, vol. 1. 117-122. [7] Rus D, Vona M. A physical implementation of the self-reconfiguring crystalline robot[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. 2000, vol. 2. 1726-1733. [8] Chaiyaratana N, Zalzala A M S. Recent developments in evolutionary and genetic algorithms:theory and applications[A]. Second International Conference on Genetic Algorithms In Engineering Systems:Innovations And Applications[C]. 1997. 270-277. [9] Chung W K, Jeongheon Hah, Youm Y, et al. Task based design of modular robot manipulator using efficient genetic algorithm[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. 1997, vol. 1. 507-512.