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Efficient Area Coverage with Optimal Morphologies of Reconfigurable Smorphi Robot

Published: 02 November 2023 Publication History

Abstract

The use of reconfigurable robots for cleaning is ideal due to their versatility and ability to adapt to the environment. However, frequent shape changes consume a lot of energy, limiting the battery life. This paper presents a framework that uses metaheuristic algorithms to determine the optimal shape of the robot to maximize coverage and minimize energy consumption. The approach uses Speed constrained multi-objective particle swarm optimization (SMPSO) and Strength Pareto Evolutionary Algorithm2 (SPEA2) to generate the optimal shapes out of high number of possible morphologies for a given area and its map layout. The unique feature of this approach is the implementation of footprint-based path planning that can be used for all robot configurations. The effectiveness of the framework is demonstrated using a Tetris-inspired robot named Smorphi. The results show that the proposed framework is suitable for selecting optimal energy-efficient morphology of the Tetris inspired reconfigurable robot for area coverage task.

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  1. Efficient Area Coverage with Optimal Morphologies of Reconfigurable Smorphi Robot

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    AIR '23: Proceedings of the 2023 6th International Conference on Advances in Robotics
    July 2023
    583 pages
    ISBN:9781450399807
    DOI:10.1145/3610419
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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    Publication History

    Published: 02 November 2023

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    Author Tags

    1. Area coverage
    2. Design principles
    3. Footprint based path planning
    4. Reconfigurable robot
    5. Smorphi

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    • Robotics Enabling Capabilities and Technologies (Ermine III: Deployable Reconfigurable Robots)

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    AIR 2023

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    Overall Acceptance Rate 69 of 140 submissions, 49%

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