http://mw.hh.se/wg211/index.php?action=history&feed=atom&title=WG211%2FM11Schultz 2026-04-05T20:57:53Z Revision history for this page on the wiki MediaWiki 1.43.5 http://mw.hh.se/wg211/index.php?title=WG211/M11Schultz&diff=668&oldid=prev 2012-06-07T07:05:02Z

<p>Created page with &quot;&#039;&#039;&#039;Programming Language Abstracts for Modular Robots&#039;&#039;&#039; by Ulrik Pagh Schultz Self-reconfigurable, modular robots are distributed mechatronic devices that can autonomously chang...&quot;</p> <p><b>New page</b></p><div>&#039;&#039;&#039;Programming Language Abstracts for Modular Robots&#039;&#039;&#039; by Ulrik Pagh Schultz<br /> <br /> Self-reconfigurable, modular robots are distributed mechatronic<br /> devices that can autonomously change their physical shape.<br /> Self-reconfiguration from one shape to another is typically achieved<br /> through a specific sequence of actuation operations distributed across<br /> the modules of the robot. More generally, control of<br /> self-reconfigurable robots requires individual modules to act in<br /> specific ways in response to sensor input, these actions need to be<br /> coordinated across the modules of the robot, and must be adapted to<br /> the current physical shape of the robot. Robust sequential control<br /> and role-based control of individual modules has been experimentally<br /> demonstrated using the DynaRole language. Supported by the M3L<br /> geometrical language, this control can even be abstracted over the<br /> morphology of the robot and the physical shape of the individual<br /> modules. DynaRole however only allows simple sequences of distributed<br /> operations to be executed, which is suitable for self-reconfiguration<br /> sequences but lacks the generality needed to implement more complex<br /> behaviors.<br /> <br /> In this talk I will present our existing work on programming languages<br /> for modular robots, as well as a work-in-progress on generalizing the<br /> DynaRole language to support a wider range of modular robot control<br /> scenarios, while retaining robustness, scalability, reversibility, and<br /> the ability to declaratively address issues pertaining to the spatial<br /> composition of the robot.</div>

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