3953583
doi
10.1007/978-3-030-14984-0_1
oai:zenodo.org:3953583
user-safelog
user-eu
Kulich, Miroslav
Petrš, Jan
Přeučil, Libor
Modelling, Simulation, and Planning for the MoleMOD System
Brejchová, Michaela
info:eu-repo/semantics/openAccess
Creative Commons Attribution 4.0 International
https://creativecommons.org/licenses/by/4.0/legalcode
<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>
Zenodo
2019-03-14
info:eu-repo/semantics/conferencePaper
3953582
user-safelog
user-eu
award_title=Safe human-robot interaction in logistic applications for highly flexible warehouses; award_number=688117; award_identifiers_scheme=url; award_identifiers_identifier=https://cordis.europa.eu/projects/688117; funder_id=00k4n6c32; funder_name=European Commission;
1601041654.079616
2181687
md5:7609f8bd7d1b832b443a92aa441198ba
https://zenodo.org/records/3953583/files/2007.10036.pdf
public