Ulrik Pagh Schultz
ABSTRACT
Self-reconfigurable, modular robots are distributed mechatronic devices that can change their physical shape; modules are programmed individually but must coordinate across the robot. We present dynamic distributed scope as a programming language abstraction for modular robots, and show how it provides a unified abstraction for the domain.
- M. Bordignon, K. Stoy, and U. P. Schultz. A Virtual Machine-based Approach for Fast and Flexible Reprogramming of Modular Robots. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'09), pages 4273--4280, 2009. Google Scholar
Digital Library
- M. Bordignon, U. P. Schultz, and K. Stoy. Model-based Kinematics Generation for Modular Mechatronic Toolkits. In Proc. 9th ACM SIGPLAN/SIGSOFT Int. Conf. on Generative Programming and Component Engineering (GPCE'10), 2010. Google ScholarDigital Library
- M. Bordignon, K. Stoy, and U. Schultz. Generalized programming of modular robots through kinematic configurations. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 3659--3666, 2011.Google ScholarCross Ref
- D. Brandt and D. J. Christensen. A new meta-module for controlling large sheets of atron modules. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2007.Google ScholarCross Ref
- E. Østergaard, K. Kassow, R. Beck, and H. Lund. Design of the ATRON lattice-based self-reconfigurable robot. Autonomous Robots, 21 (2): 165--183, 2006. Google ScholarDigital Library
- U. P. Schultz. Towards a robust spatial computing language for modular robots. In Proc. of the 2012 Workshop on Spatial Computing (AAMAS), 2012.Google Scholar
- U. P. Schultz. Towards a general-purpose, reversible language for controlling self-reconfigurable robots (work-in-progress). In Preliminary Proc. of the 4th Workshop on Reversible Computing (RC), pages 101--107, 2012.Google Scholar
- U. P. Schultz, M. Bordignon, and K. Stoy. Robust and reversible execution of self-reconfiguration sequences. Robotica, 29: 35--57, 2011. Video at http://www.youtube.com/watch?v=SYizuooEs7s. Google ScholarDigital Library
- M. Yim, W.-M. Shen, B. Salemi, D. Rus, M. Moll, H. Lipson, E. Klavins, and G. S. Chirikjian. Modular Self-Reconfigurable Robot Systems {Grand Challenges of Robotics}. IEEE Robot. Automat. Mag., 2007.Google ScholarCross Ref
Index Terms
- Programming language abstractions for self-reconfigurable robots
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