Brejchová, Michaela
Kulich, Miroslav
Petrš, Jan
Přeučil, Libor
2019-03-14
<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>
https://doi.org/10.1007/978-3-030-14984-0_1
oai:zenodo.org:3953583
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Modelling, Simulation, and Planning for the MoleMOD System
info:eu-repo/semantics/conferencePaper