Collision-Free Reconfiguration Planning for Variable Topology Trusses Using a Linking Invariant
Alexander Spinos,Mark Yim,Alexander Spinos,Mark Yim
We introduce a multi-modal reconfiguration planner for the Variable Topology Truss (VTT) modular robot system. The VTT system is a truss-architecture modular self-reconfigurable robot. When a VTT is restricted to a single topology, the collision constraints between the truss members divide the configuration space into many connected components, which makes collision-free planning difficult. This n...
