Supplementary material
Supplementary material of the paper A Membrane Computing Framework for Self-reconfigurable Robots by
- Dongyang Bie State Key Laboratory of Robotics and System, Harbin Institute of Technology,
Harbin, China (dongyangbie@gmail.com).
- Miguel A. Gutiérrez-Naranjo
Research Group on Natural Computing, Dept. of Computer Science and AI,
University of Seville, Spain (magutier@us.es).
- Yanhe Zhu State Key Laboratory of Robotics and System, Harbin Institute of Technology,
Harbin, China (yhzhu@hit.edu.cn).
Abstract. Self-reconfigurable robots are built by modules which can move in
relationship to each other, which allows the robot to change its physical form. Finding
a sequence of module moves that reconfigures the robot from the initial configuration to
the goal configuration is a hard task and many control algorithms have been proposed.
In this paper, we present a novel method which combines a cluster-flow locomotion
based on cellular automata together with a decentralized local representation of the
spatial geometry based on membrane computing ideas. This new approach has been
tested with computer simulations and real-world experiments performed with modular
self-reconfigurable (MSR) robots and represents a new point of view with respect other
control methods found in the literature.
Keywords: Membrane Computing, Self-reconfiguration, Modular robots, Distributed
algorithm, P systems
- Video 1 Experiment 1 with a sliding cube model (SCM).
- Video 2 Experiment 2 with a sliding cube model (SCM).
- Video 3 Computer simulation
- Video 4 Scalability simulation