Publication details

Reconfiguring Metamorphic Robots via SMT: Is It a Viable Way?

Authors

MRÁZEK Jan JONÁŠ Martin BARNAT Jiří

Year of publication 2021
Type Article in Proceedings
Conference To appear in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
MU Faculty or unit

Faculty of Informatics

Citation
Description We present a new approach to tackle the problem of lattice-type metamorphic robots reconfiguration. We base our approach on a reduction to satisfiability modulo theory (SMT). Unlike the current state-of-the-art solutions, we consider the spatial limitations of the modules themselves and produce collision-free plans. We give an in-depth description of the reduction and discuss several optimizations for our technique. We also show an experimental evaluation of our approach and list possible future improvements to our technique.
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