Like homogeneous systems, heterogeneous SR systems promise versatility and usefulness superior to fixed architecture robots through their ability to match structure to task. In addition, heterogeneous systems further this goal with their ability to match capability to task. The original vision of reconfigurable systems was inherently heterogeneous, and during the subsequent fifteen years researchers have accrued much knowledge of homogeneous systems. In this thesis, we propose to widen this understanding into the realm of heterogeneous systems. We plan to address fundamental algorithmic issues and demonstrate solutions in simulation and hardware where possible. The results of this work should shed light on the relative complex it of hardware versus software design in SR systems and lead to an algorithmic basis for heterogeneous
self-reconfiguring robots.
We have proposed a framework for categorizing SR modules, and we have chosen a simple theoretical module on which to build reconfiguration algorithms. We will attempt to prove lower bounds for the basic problem and extend the results to systems with greater heterogeneity. There are other algorithmic issues we will address which are enabled by previous reconfiguration solutions, and by our previous work with non-actuated modules, path planning, Goal Recognition, and distributed locomotion.
Finally, we propose to construct a software simulator with which to demonstrate our algorithms. This simulator should be suitable for further use by other researchers in the area. We also hope to perform hardware experiments where available.
The main expected contribution of the proposal is an algorithmic basis for heterogeneous SR systems. This contribution is supported by the following items:
• Framework for heterogeneous modules
• Reconfiguration in 2D and 3D with Sliding Cube model, with arbitrary size ratios
• Reconfiguration with non-actuated modules
• Complexity analysis for reconfiguration
• Applications involving resource trade-offs and optimization
• Implementation in simulation
• Hardware experimentation
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