Intelligent algorithm-based cellular robot self-reconfiguration step planning research

Tianle Liu; Wenhui Wang; Yuyao Sun; Yizhai Zhang; Panfeng Huang

doi:10.1109/RCAR58764.2023.10249418

Intelligent algorithm-based cellular robot self-reconfiguration step planning research

Tianle Liu, Wenhui Wang, Yuyao Sun, Yizhai Zhang, Panfeng Huang

School of Astronautics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Cellular robots have the advantages of fast mission response, in-orbit installability and high reliability. It has a broad application prospect in the future development of multimodal spacecraft. The method of reconfiguration planning steps is designed for the self-reconfiguration planning problem of the cellular spacecraft. Firstly, the description method of the spatial configuration of the cellular spacecraft is designed according to the cellular characteristics. Secondly, the training method of reconfiguration is established according to the method of PPO+ICM. Finally, the reconfiguration algorithm was tested with 8 modules of cells with the help of Unity3D. The simulation results show that the method meets the reconfiguration step planning requirements of the cellular spacecraft.

Original language	English
Title of host publication	Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	13-18
Number of pages	6
ISBN (Electronic)	9798350327182
DOIs	https://doi.org/10.1109/RCAR58764.2023.10249418
State	Published - 2023
Event	2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023 - Datong, China Duration: 17 Jul 2023 → 20 Jul 2023

Publication series

Name	Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

Conference

Conference	2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023
Country/Territory	China
City	Datong
Period	17/07/23 → 20/07/23

Access to Document

10.1109/RCAR58764.2023.10249418

Cite this

Liu, T., Wang, W., Sun, Y., Zhang, Y., & Huang, P. (2023). Intelligent algorithm-based cellular robot self-reconfiguration step planning research. In Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023 (pp. 13-18). (Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR58764.2023.10249418

Liu, Tianle ; Wang, Wenhui ; Sun, Yuyao et al. / Intelligent algorithm-based cellular robot self-reconfiguration step planning research. Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 13-18 (Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023).

@inproceedings{8a68ce346c5643a6ac9ea90daea12f6a,

title = "Intelligent algorithm-based cellular robot self-reconfiguration step planning research",

abstract = "Cellular robots have the advantages of fast mission response, in-orbit installability and high reliability. It has a broad application prospect in the future development of multimodal spacecraft. The method of reconfiguration planning steps is designed for the self-reconfiguration planning problem of the cellular spacecraft. Firstly, the description method of the spatial configuration of the cellular spacecraft is designed according to the cellular characteristics. Secondly, the training method of reconfiguration is established according to the method of PPO+ICM. Finally, the reconfiguration algorithm was tested with 8 modules of cells with the help of Unity3D. The simulation results show that the method meets the reconfiguration step planning requirements of the cellular spacecraft.",

author = "Tianle Liu and Wenhui Wang and Yuyao Sun and Yizhai Zhang and Panfeng Huang",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023 ; Conference date: 17-07-2023 Through 20-07-2023",

year = "2023",

doi = "10.1109/RCAR58764.2023.10249418",

language = "英语",

series = "Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "13--18",

booktitle = "Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023",

}

Liu, T, Wang, W, Sun, Y, Zhang, Y & Huang, P 2023, Intelligent algorithm-based cellular robot self-reconfiguration step planning research. in Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023. Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023, Institute of Electrical and Electronics Engineers Inc., pp. 13-18, 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023, Datong, China, 17/07/23. https://doi.org/10.1109/RCAR58764.2023.10249418

Intelligent algorithm-based cellular robot self-reconfiguration step planning research. / Liu, Tianle; Wang, Wenhui; Sun, Yuyao et al.
Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 13-18 (Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Intelligent algorithm-based cellular robot self-reconfiguration step planning research

AU - Liu, Tianle

AU - Wang, Wenhui

AU - Sun, Yuyao

AU - Zhang, Yizhai

AU - Huang, Panfeng

PY - 2023

Y1 - 2023

N2 - Cellular robots have the advantages of fast mission response, in-orbit installability and high reliability. It has a broad application prospect in the future development of multimodal spacecraft. The method of reconfiguration planning steps is designed for the self-reconfiguration planning problem of the cellular spacecraft. Firstly, the description method of the spatial configuration of the cellular spacecraft is designed according to the cellular characteristics. Secondly, the training method of reconfiguration is established according to the method of PPO+ICM. Finally, the reconfiguration algorithm was tested with 8 modules of cells with the help of Unity3D. The simulation results show that the method meets the reconfiguration step planning requirements of the cellular spacecraft.

AB - Cellular robots have the advantages of fast mission response, in-orbit installability and high reliability. It has a broad application prospect in the future development of multimodal spacecraft. The method of reconfiguration planning steps is designed for the self-reconfiguration planning problem of the cellular spacecraft. Firstly, the description method of the spatial configuration of the cellular spacecraft is designed according to the cellular characteristics. Secondly, the training method of reconfiguration is established according to the method of PPO+ICM. Finally, the reconfiguration algorithm was tested with 8 modules of cells with the help of Unity3D. The simulation results show that the method meets the reconfiguration step planning requirements of the cellular spacecraft.

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DO - 10.1109/RCAR58764.2023.10249418

M3 - 会议稿件

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T3 - Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

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BT - Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

Y2 - 17 July 2023 through 20 July 2023

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Liu T, Wang W, Sun Y, Zhang Y, Huang P. Intelligent algorithm-based cellular robot self-reconfiguration step planning research. In Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 13-18. (Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023). doi: 10.1109/RCAR58764.2023.10249418

Intelligent algorithm-based cellular robot self-reconfiguration step planning research

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