Trimod modular formation assembly using "MARS" modular robotic devices

Abstract

Problems of configuration of homogeneous robot groups into three-dimensional spatial shapes are relevant, extensively researched and implemented in practice. This paper presents conceptual formations and results of modeling of mobile autonomous reconfigurable system, modular robotic unit and TriMod formation, as the basic spatial structure of the modular robotic system. Within the present research existing modular robotic systems were analyzed, isolated nodes, components and the issues of their pairwise connections. The analysis allowed to define a list of requirements to modular robotic devices and outline unresolved problems in this domain. There is currently no suitable model of autonomous robotic device and source formations, that would enable implementation of the established solution for configuration of a mobile robot group into the TriMod formation. The assessment of the solution in a simulation environment showed, that the proposed model outperforms similar solutions in many ways or enables alternative approaches to solve already known problems, as it has the following advantages: full-blown autonomous mobility system, self-centering mechanical device for connection with analogous modular devices, as well load-bearing capacity up to 3 kg.