Marsette Vona

Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules

We discuss a robotic system composed of Crystalline modules. Crystalline modules can aggregate together to form distributed robot systems. Crystalline modules can move relative to each other by expanding and contracting. This actuation mechanism permits automated shape metamorphosis. We describe the Crystalline module concept and show the basic motions that enable a Crystalline robot system to self-reconfigure. We present an algorithm for general self-reconfiguration and describe simulation experiments.

The self-reconfiguring robotic molecule

We discuss a robotic module called a molecule. Molecules can be the basis for building self-reconfiguring robots. They support multiple modalities of locomotion and manipulation. We describe the design, functionality, and control of the molecule. We show how a set of molecules can aggregate as active three-dimensional structures that can move and change shape. Finally, we discuss our molecule experiments.

Self-reconfiguration planning with compressible unit modules

We discuss a robotic system composed of crystalline modules. Crystalline modules can aggregate together to form distributed robot systems. Crystalline modules can move relative to each other by expanding and contracting. This actuation mechanism permits automated shape metamorphosis. We describe the crystalline module concept and show the basic motions that enable a crystalline robot system to self-reconfigure. We present an algorithm for general self-reconfiguration and describe simulation experiments.

Self-reconfiguring robots

Mimicking the adaptability of living biological cells, robot modules will reconfigure themselves toward a common purpose within the limits imposed by the local environment.

A physical implementation of the self-reconfiguring crystalline robot

We discuss a physical implementation of the crystalline robot system. Crystalline robots consist of modules that can aggregate together to form distributed robot systems. Crystalline modules are actuated by expanding and contracting each unit. This actuation mechanism permits automated shape metamorphosis. We describe the crystalline module concept and a physical implementation of a robot system with ten units. We describe experiments with this robot.

A basis for self-reconfiguring robots using crystal modules

We discuss a basis for creating self-reconfiguring robots and instantiate it for crystal modules. Crystalline robots consist of modules that can aggregate together to form distributed robot systems. Crystalline modules are actuated by expanding and contracting each unit. This actuation mechanism permits automated shape metamorphosis. We describe the crystalline module concept and its physical implementation. We prove that crystalline robots are general self-reconfiguring robots.

Distributed operations for the Mars Exploration Rover Mission with the science activity planner

The unprecedented endurance of both the Spirit and Opportunity rovers during the Mars Exploration Rover Mission (MER) brought with it many unexpected challenges. Scientists, many of whom had planned on staying at the Jet Propulsion Laboratory (JPL) in Pasadena, CA for 90 days, were eager to return to their families and home institutions. This created a need for the rapid conversion of a mission-planning tool, the science activity planner (SAP), from a centralized application usable only within JPL, to a distributed system capable of allowing scientists to continue collaborating from locations around the world. Rather than changing SAP itself, the rapid conversion was facilitated by a collection of software utilities that emulated the internal JPL software environment and provided efficient, automated information propagation. During this process many lessons were learned about scientific collaboration in a concurrent environment, use of existing server-client software in rapid systems development, and the effect of system latency on end-user usage patterns. Switching to a distributed mode of operations also saved a considerable amount of money, and increased the number of specialists able to actively contribute to mission research. Long-term planetary exploration missions of the future will build upon the distributed operations model used by MER

Using Modular Self-Reconfiguring Robots for Locomotion

We discuss the applications of modular self-reconfigurable robots to navigation. We show that greedy algorithms are complete for motion planning over a class of modular reconfigurable robots. We illustrate the application of this result on two self-reconfigurable robot systems we designed and built in our lab: the robotic molecule and the atom. We describe the modules and our locomotion experiments.