Conference paper Open Access

Modelling, Simulation, and Planning for the MoleMOD System

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


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{
  "DOI": "10.1007/978-3-030-14984-0_1", 
  "author": [
    {
      "family": "Brejchov\u00e1, Michaela"
    }, 
    {
      "family": "Kulich, Miroslav"
    }, 
    {
      "family": "Petr\u0161, Jan"
    }, 
    {
      "family": "P\u0159eu\u010dil, Libor"
    }
  ], 
  "issued": {
    "date-parts": [
      [
        2019, 
        3, 
        14
      ]
    ]
  }, 
  "abstract": "<p>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.</p>", 
  "title": "Modelling, Simulation, and Planning for the MoleMOD System", 
  "type": "paper-conference", 
  "id": "3953583"
}
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