Conference paper Open Access

Modelling, Simulation, and Planning for the MoleMOD System

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


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  <identifier identifierType="URL">https://zenodo.org/record/3953583</identifier>
  <creators>
    <creator>
      <creatorName>Brejchová, Michaela</creatorName>
      <givenName>Michaela</givenName>
      <familyName>Brejchová</familyName>
    </creator>
    <creator>
      <creatorName>Kulich, Miroslav</creatorName>
      <givenName>Miroslav</givenName>
      <familyName>Kulich</familyName>
    </creator>
    <creator>
      <creatorName>Petrš, Jan</creatorName>
      <givenName>Jan</givenName>
      <familyName>Petrš</familyName>
    </creator>
    <creator>
      <creatorName>Přeučil, Libor</creatorName>
      <givenName>Libor</givenName>
      <familyName>Přeučil</familyName>
    </creator>
  </creators>
  <titles>
    <title>Modelling, Simulation, and Planning for the MoleMOD System</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2019</publicationYear>
  <dates>
    <date dateType="Issued">2019-03-14</date>
  </dates>
  <resourceType resourceTypeGeneral="ConferencePaper"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/3953583</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsIdenticalTo">10.1007/978-3-030-14984-0_1</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="URL" relationType="IsPartOf">https://zenodo.org/communities/safelog</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="https://creativecommons.org/licenses/by/4.0/legalcode">Creative Commons Attribution 4.0 International</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;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.&lt;/p&gt;</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/100010661</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/688117/">688117</awardNumber>
      <awardTitle>Safe human-robot interaction in logistic applications for highly flexible warehouses</awardTitle>
    </fundingReference>
  </fundingReferences>
</resource>
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