Departmental Papers (MEAM)

Document Type

Journal Article

Subject Area


Date of this Version

October 2007


Reprinted from Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, October 2007.

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This paper introduces a new challenge problem: designing robotic systems to recover after disassembly from high-energy events and a first implemented solution of a simplified problem. It uses vision-based localization for self-reassembly. The control architecture for the various states of the robot, from fully-assembled to the modes for sequential docking, are explained and inter-module communication details for the robotic system are described.



Date Posted: 30 April 2008

This document has been peer reviewed.