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Scalable Shape Sculpting via Hole Motion: Motion Planning for Claytronics

Scalable Shape Sculpting via Hole Motion: Motion Planning for Claytronics. Michael De Rosa SSS/Speaking Skills Talk 11/4/2005. Talk Outline. Motivation Claytronics Motion Planning Algorithm Overview Basic Moves Smoothing Planning Demo Results Future Work. Claytronics Intro.

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Scalable Shape Sculpting via Hole Motion: Motion Planning for Claytronics

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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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