Connected Reconfiguration of Polyominoes Amid Obstacles using RRT
Javier Garcia,Michael Yannuzzi,Peter Kramer,Christian Rieck,Aaron T. Becker,Javier Garcia,Michael Yannuzzi,Peter Kramer,Christian Rieck,Aaron T. Becker
This paper investigates using a sampling-based approach, the RRT*, to reconfigure a 2D set of connected tiles in complex environments, where multiple obstacles might be present. Since the target application is automated building of discrete, cellular structures using mobile robots, there are constraints that determine what tiles can be picked up and where they can be dropped off during reconfigura...
