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International Journal of Automation and Computing 2018, Vol. 15 Issue (4) :431-442    DOI: 10.1007/s11633-016-1049-4
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Genetic Programming-based Self-reconfiguration Planning for Metamorphic Robot
Tarek Ababsa1, Noureddine Djedl1, Yves Duthen2
1 LESIA Laboratory, University of Biskra, PO Box 145 RP, Biskra 07000, Algerla;
2 IRIT Laboratory, University of Toulouse;
1 Capitole, 21 Alles de Brinne, Toulouse 31032, France
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Abstract This paper presents a genetic programming based reconfiguration planner for metamorphic modular robots. Initially used for evolving computer programs that can solve simple problems, genetic programming (GP) has been recently used to handle various kinds of problems in the area of complex systems. This paper details how genetic programming can be used as an automatic programming tool for handling reconfiguration-planning problem. To do so, the GP evolves sequences of basic operations which are required for transforming the robot s geometric structure from its initial configuration into the target one while the total number of modules and their connectedness are preserved. The proposed planner is intended for both Crystalline and TeleCube modules which are achieved by cubical compressible units. The target pattern of the modular robot is expressed in quantitative terms of morphogens diffused on the environment. Our work presents a solution for self reconfiguration problem with restricted and unrestricted free space available to the robot during reconfiguration. The planner outputs a near optimal explicit sequence of low-level actions that allows modules to move relative to each other in order to form the desired shape.
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KeywordsModular robots   unit-compressible modules   self-reconfiguration   genetic programming   reconfiguration planning     
Received: 2016-02-28; published: 2016-06-21
Corresponding Authors: Tarek Ababsa     Email: ababsatarek@yahoo.fr
About author: Tarek Ababsa received the B.Sc.and M.Sc.degrees in computer science from the University of Biskra,Algeria in 2004 and 2008,respectively. E-mail:ababsatarek@yahoo.fr;Noureddine Djedi received the B.Sc. degree in computer science from USTHB University,Algeria in 1986. E-mail:n.djedi@univ-biskra.dz;Yves Duthen received the Ph.D.degree from the University Paul Sabatier, France in 1983,and the French Habilitation degree in 1993 to become full professor.He is a research professor of artificial life and virtual reality at IRIT Lab,University of Toulouse 1-Capitole,France.He has worked in Image Synthesis during the 1980s and focused on behavioural simulation based on evolutionary mechanism since 1990.E-mail:yves.duthen@ut-capitole.fr
Cite this article:   
Tarek Ababsa, Noureddine Djedl, Yves Duthen. Genetic Programming-based Self-reconfiguration Planning for Metamorphic Robot[J]. International Journal of Automation and Computing , vol. 15, no. 4, pp. 431-442, 2018.
http://www.ijac.net/EN/10.1007/s11633-016-1049-4      或     http://www.ijac.net/EN/Y2018/V15/I4/431
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