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