Modelling, Simulation, and Planning for the MoleMOD System

TL;DR

This paper introduces a simulation environment and a planning algorithm for the MoleMOD modular robotic system, enabling realistic modeling and collision-free reconfiguration planning in architecture and civil engineering applications.

Contribution

It presents a Gazebo-based simulation environment with realistic component models and a novel planning approach for collision-free reconfiguration trajectories.

Findings

Realistic models of MoleMOD components for simulation

A collision-free trajectory planning algorithm

Effective visualization and planning in Gazebo

Abstract

MoleMOD is a heterogeneous self-reconfigurable modular robotic system to be employed in architecture and civil engineering. In this paper we present two components of the MoleMOD infrastructure - a test environment and a planning algorithm. The test environment for simulation and visualization of active parts as well as passive blocks of MoleMOD is based on Gazebo - a powerful general-purpose robotic simulator. The key effort has been put into preparation of realistic models of passive and active components taking into account their physical characteristics. Moreover, given a starting configuration of the MoleMOD system and a final configuration an approach to plan collision-free trajectories for a fleet of active parts is introduced.