Conference paper Open Access

Modelling, Simulation, and Planning for the MoleMOD System

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

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<oai_dc:dc xmlns:dc="" xmlns:oai_dc="" xmlns:xsi="" xsi:schemaLocation="">
  <dc:creator>Brejchová, Michaela</dc:creator>
  <dc:creator>Kulich, Miroslav</dc:creator>
  <dc:creator>Petrš, Jan</dc:creator>
  <dc:creator>Přeučil, Libor</dc:creator>
  <dc:description>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.</dc:description>
  <dc:title>Modelling, Simulation, and Planning for the MoleMOD System</dc:title>
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