The method of the kinematic structure reconfiguration of a multifunctional modular robot based on the greedy algorithm

Abstract

The aim of the article is to provide a quick reconfiguration of a large group of robots. To solve the problem, it is proposed to use a decentralized control in the form of a multi-agent system. Each agent performs movement planning based on a greedy algorithm. The simulation showed the effectiveness of the proposed method. In the future, it is planned to increase the reliability of the proposed method and its complexity for working with more complex configurations