Conference paper Open Access

Modelling, Simulation, and Planning for the MoleMOD System

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


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  <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:date>2019-03-14</dc:date>
  <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:identifier>https://zenodo.org/record/3953583</dc:identifier>
  <dc:identifier>10.1007/978-3-030-14984-0_1</dc:identifier>
  <dc:identifier>oai:zenodo.org:3953583</dc:identifier>
  <dc:relation>info:eu-repo/grantAgreement/EC/H2020/688117/</dc:relation>
  <dc:relation>url:https://zenodo.org/communities/safelog</dc:relation>
  <dc:rights>info:eu-repo/semantics/openAccess</dc:rights>
  <dc:rights>https://creativecommons.org/licenses/by/4.0/legalcode</dc:rights>
  <dc:title>Modelling, Simulation, and Planning for the MoleMOD System</dc:title>
  <dc:type>info:eu-repo/semantics/conferencePaper</dc:type>
  <dc:type>publication-conferencepaper</dc:type>
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