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A New Graph Signature Calculation Method Based on Power Centrality for Modular Robots

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Distributed Autonomous Robotic Systems

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 83))

Abstract

Graph signature is a fast isomorphism test that is used in self reconfiguration planning of modular robots. In case of dealing with homomorphic modules, the required time to calculate the signature grows exponentially with the number of symmetry lines. We tackle this problem by introducing an isomorphism- invariant signature calculation method, which is based on the power centrality of nodes. We also introduce a new sample-based search method. Simulation results show the new method finds better solutions in a significantly shorter time.

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Authors and Affiliations

  1. Faculty of Electrical and Computer Engineering, University of Tehran, Tehran, Iran

    Keyvan Golestan, Masoud Asadpour & Hadi Moradi

Authors
  1. Keyvan Golestan
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  2. Masoud Asadpour
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  3. Hadi Moradi
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Corresponding author

Correspondence to Keyvan Golestan .

Editor information

Editors and Affiliations

  1. EPFL ENAC IIE DISAL, Station 2, Lausanne, 1015, Switzerland

    Alcherio Martinoli

  2. EPFL STI IMT LSRO, Station 9, Lausanne, 1015, Switzerland

    Francesco Mondada

  3. 430 UCB, Engineering Drive 1111, Boulder, 80309, Colorado, USA

    Nikolaus Correll

  4. EPFL ENAC IIE DISAL, Station 2, Lausanne, 1015, Switzerland

    Grégory Mermoud

  5. , Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, 30332, Georgia, USA

    Magnus Egerstedt

  6. , Mechanical Engineering & Mechanics, Drexel University, Randell 115, Chestnut St. 3141, Philadelphia, 19104, Pennsylvania, USA

    M. Ani Hsieh

  7. , Department of Electrical Engineering and, University of Tennessee, Middle Drive 1520, Knoxville, 37996, Tennessee, USA

    Lynne E. Parker

  8. Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Campusvej 55, Odense, 5230, Denmark

    Kasper Støy

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Golestan, K., Asadpour, M., Moradi, H. (2013). A New Graph Signature Calculation Method Based on Power Centrality for Modular Robots. In: Martinoli, A., et al. Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32723-0_36

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  • DOI: https://doi.org/10.1007/978-3-642-32723-0_36

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32722-3

  • Online ISBN: 978-3-642-32723-0

  • eBook Packages: EngineeringEngineering (R0)

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