Polygon-based Random Tree Search Algorithm for a Size-Changing Robot

Fig. 1.  Summary figure of the study: (a) The octahedron shape VTT; (b) Path planning through the narrow passage; (c) Locomotion simulation through the narrow passage. We proposed the Polygon-based Random Tree (PRT) search algorithm for path planning of the Variable Topology Truss (VTT) system [1]. PRT search algorithm finds the path to the goal …

Reconfiguration Solution of a Variable Topology Truss: Design and Experiment

Fig. 1. Conceptual images of the VTT performing a search and rescue mission on a disaster site. (a) Locomotion; (b) arriving at the destination; (c) the master node grasping the target truss; (d) moving of the target truss; (e) finishing reconfiguration; (f) shoring up.   VTT comprises “members,” and “nodes.” Nodes are located at the …