Self-reconfiguration planning of adaptive modular robots with triangular structure based on extended binary trees
Michael Gerbl,Johannes Gerstmayr,Michael Gerbl,Johannes Gerstmayr
In this paper, we present a novel description for the configuration space of adaptive modular robots with a triangular structure based on extended binary trees. In general, binary trees can serve as a representation of kinematic trees with a maximum of two immediate descendants per element. Kinematic loops are incorporated in the tree structure by an ingenious extension of the binary tree indices....
