发表机构
Institute of AI and Robotics, Academy for Engineering & Technology, Fudan University（复旦大学工程与技术学院人工智能与机器人研究所）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对可变形平面模块化机器人重构规划的固定表示难题，提出带构造性规划的运动原语及前瞻选择器，证明N≥7的边连接非直线构型可相互重构，实验显示规划时间短于现有框架。
AI 中文摘要
模块化机器人的连续可变形几何特性，给其重构规划与分析的固定表示定义带来了困难。本文提出一种正方形单元抽象方法，该方法将可变形菱形模块映射为固定大小的网格单元，同时通过旋转和剪切这两种原语保留具有物理可解释性的局部运动。在该抽象框架下，我们证明所有边连接的非直线构型（N≥7）均可仅通过允许的原语运动转换为固定的标准阶梯构型，由于这些运动是可逆的，该类中的任意两种构型均可相互重构。该证明具有构造性，可直接生成阶梯标准化规划器，其在保持连接性的同时运输可移动边界模块。作为实用增强，我们进一步引入边界到交付的前瞻选择器，其在不影响完备性保证的前提下对允许的高层选择进行排序。实验验证了构造性重构过程，且该选择器可大幅减少规划时间，与现有框架的对比显示，在相同模块数量下其规划时间更短。
英文摘要
The continuously deformable geometry of modular robots makes it difficult to define a fixed representation for reconfiguration planning and analysis. This letter introduces a square-cell abstraction that maps deformable rhombus modules to fixed-size grid cells while retaining physically interpretable local motions through two primitives, pivoting and shearing. Under this abstraction, we prove that every non-straight edge-connected configuration with $N \geq 7$ can be transformed to a fixed canonical staircase using only admissible primitive motions. Since these motions are reversible, any two configurations in this class are mutually reconfigurable. The proof is constructive and directly yields a staircase-canonicalization planner that transports removable boundary modules while preserving connectivity. As a practical enhancement, we further introduce a boundary-to-delivery lookahead selector that ranks admissible high level choices without affecting the completeness guarantee. Experiments demonstrate the constructive reconfiguration process and show that the selector substantially reduces planning time, while reference comparisons indicate lower planning times than the prior framework over the shared module counts.
CommentsJie Gu and Tingting Wang contributed equally to this work
