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Self-reconfiguration for adaptive furniture. Jocelyne Lotfi. Content. Goal of the Project Previous work of Masoud Asadpour Presentation of the algorithm My contribution Changes made Future Work and Time Table. Goal of the project. - PowerPoint PPT Presentation
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Self-reconfiguration for adaptive furniture
Jocelyne Lotfi
Content
Goal of the Project Previous work of Masoud Asadpour
Presentation of the algorithm My contribution
Changes made Future Work and Time Table
Goal of the project
Adapt an existing reconfiguration algorithm for the roombots
Improve the efficiency of this algorithm
Work of Masoud Asadpour
Graph representation Signature Distance Metric Full Algorithm
Graph representation
Each node is one robot
Each edge have a label representing how they are attached
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Signature
How to say that two graph are the same ? => Signature feature
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e1
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start
Signature : [1 e1 2][2 e2 3][3 e3 2][1 e4 4][4 e5 5][4 e6 6][6 –e7 1][1 –e8 7]
Distance Metric
Next question : how far are we from the goal ? Graph Edit Distance Maximum Commun Sub-Graph, in practice use
of an upper-bound.
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5’1’
2’
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Initial position Final position
Edit Actions
Attach and Detach Imply robot’s servo
moves not taken in consideration
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Full algorithm
begin
end
Compute Sgn(I), Sgn(F)
Signature DB
P-Queue
Sgn(I)=Sgn(F) ?Y Output the
solutionPush I in a priority-queue
I← Pop from the P-Queue
I’← Apply action a to I
Compute Sgn(I’)
Sgn(I’) already exists?
Save Sgn(I’)
Y
N
N
Push I’ in the P-Queue
Loop for Feasible actions
Manual Revision
queueempty
My contribution
Adapt the algorithm for roombots Change of labeling and adding of move
actions.
What is roombots ?
Move Actions
Overall goal => having furniture Three levels of freedom imply lots of movements Want to get a type of “stuck” form in space
Move Actions Change configuration in space => change
of labelling
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Change in the algorithm
Need of a fixed position representation of the robot
Move action = Detach action followed by Attach action => no change in the underlying theory base on graph edit distance
Same kind of graph, so reusability of signature process
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Now
I have adapted the algorithm for roombots with Move action implemented
Need of test : Number of action between start and end
configuration found compare to minimum Speed
Future Work
Improve efficiency by :Different search approach
Stochastic method
Adaptation of the signature process for highly symmetric modules
Possible bigger structure handling
Time Table
November => tests of the current version + change of search approched
December => adaptation of the signature + big structures handling (if enough time)
January => report + presentation
Questions ?