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Motion Planning for Claytronics: Scalable Shape Sculpting via Hole Motion

Explore the revolutionary concept of scalable shape sculpting using hole motion in Claytronics, detailing the algorithm overview, basic moves, smoothing techniques, planning strategies, demo results, and future work possibilities. Learn about motion planning for modular robots acting collaboratively and the simplified assumptions that can drive this innovative technology forward.

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Motion Planning for Claytronics: Scalable Shape Sculpting via Hole Motion

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  1. Scalable Shape Sculpting via Hole Motion: Motion Planning for Claytronics Michael De Rosa SSS/Speaking Skills Talk 11/4/2005

  2. Talk Outline • Motivation • Claytronics • Motion Planning • Algorithm Overview • Basic Moves • Smoothing • Planning • Demo • Results • Future Work

  3. Claytronics Intro • Modular robots as 3D display substrate • Massive ensembles of simple robots • Robots must act collaboratively • Neighbor-to-neighbor comm. • Ensemble axiom

  4. Motion Planning For Claytronics • Classical planning methods won’t work past ~1k catoms • No high-bandwidth shared channel • Broadcast floods involve 1000’s of hops • Need a distributed, scale-independent way to form shapes using catoms

  5. Simplifying Assumptions • 2D catoms, constrained to a lattice • Centralized control point for coordination • Only care about the perimeter of the shape • All of these assumptions can be relaxed

  6. Talk Outline • Motivation • Claytronics • Motion Planning • Algorithm Overview • Basic Moves • Smoothing • Planning • Demo • Results • Future Work

  7. Basic Moves

  8. Hole Motion Demo

  9. Smoothing

  10. Demo: Basic Moves & Smoothing

  11. Why Does This Matter? • Motion,Creation,Deletion, & Smoothing are all very simple • Can be implemented purely with local rules • Motion planning problem is then reduced to assigning create/delete states and gravity directions

  12. Planning

  13. Talk Outline • Motivation • Claytronics • Motion Planning • Algorithm Overview • Basic Moves • Smoothing • Planning • Demo • Results • Future Work

  14. Demo: Square -> T

  15. Demo: Intel

  16. Demo: DARPA

  17. Talk Outline • Motivation • Claytronics • Motion Planning • Algorithm Overview • Basic Moves • Smoothing • Planning • Demo • Results • Future Work

  18. Results • Full implementation of 2D algorithm • Both keyframing and interactive modes • Simulates 20k catoms @ 2fps • 97.2% shape compliance in ensembles of ~60k catoms • Formal specification of algorithm • Paper draft for submission to ICRA ‘06 • Algorithm used as motivation for additional research (IRP summer intern)

  19. Scale-independent Performance • Mean of 10 runs • 10k timesteps • Similar results on other configurations

  20. Talk Outline • Motivation • Claytronics • Motion Planning • Algorithm Overview • Basic Moves • Smoothing • Planning • Demo • Results • Future Work

  21. Future Work • 3D implementation • Integration with DPRSim • Changing genus of shapes (add/delete holes) • Theoretical analysis

  22. Questions/Comments?

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