Conference paper Open Access

Modelling, Simulation, and Planning for the MoleMOD System

Brejchová, Michaela; Kulich, Miroslav; Petrš, Jan; Přeučil, Libor

MoleMOD is a heterogeneous self-reconfigurable modular robotic system to be employed in architecture and civil engineering. In this paper we present two components of the MoleMOD infrastructure - a test environment and a planning algorithm. The test environment for simulation and visualization of active parts as well as passive blocks of MoleMOD is based on Gazebo - a powerful general-purpose robotic simulator. The key effort has been put into preparation of realistic models of passive and active components taking into account their physical characteristics. Moreover, given a starting configuration of the MoleMOD system and a final configuration an approach to plan collision-free trajectories for a fleet of active parts is introduced.

Files (2.2 MB)
Name Size
2007.10036.pdf
md5:7609f8bd7d1b832b443a92aa441198ba
2.2 MB Download
11
8
views
downloads
Views 11
Downloads 8
Data volume 17.5 MB
Unique views 7
Unique downloads 7

Share

Cite as