Cooperative Robot Rank Transformation Using Compression and Expansion
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Solution Overview
Problem
Conventional methods for transforming a rank of rectangular parallelepiped-shaped robots require a significant amount of time proportional to the square of the number of robots, leading to long transformation times.
Innovation Solution
An action control device that moves p control subjects from a set of starting positions to a set of target positions by using a compression and expansion process, and an intermediate transformation process to shorten the transformation time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional methods are used to transform a rank of rectangular parallelepiped-shaped robots while keeping them joined, then the robots can maintain connection states, but the transformation time becomes excessively long proportional to the square of the number of robots
Solution Approach 1:
The patent segments the transformation process into three distinct phases: compression phase (moving robots toward target positions along rank directions), expansion phase (adjusting robot positions to achieve final formation), and intermediate transformation phase (handling complex repositioning). This segmentation allows each phase to be optimized independently, reducing overall transformation time while maintaining connection states.
Solution Approach 2:
The patent performs preliminary actions by pre-calculating target positions and movement paths for all robots before transformation begins. The compression phase immediately moves robots toward their target positions along rank directions, eliminating waiting time and redundant movements that occur in conventional sequential methods.
2Ease of operation
If robots move around the periphery of other robots to achieve transformation, then the transformation can be completed, but the mechanisms required become complicated
Solution Approach 1:
The patent utilizes three-dimensional space for robot positioning and movement, allowing robots to move along rank directions (X, Y, Z axes) rather than requiring complex peripheral movements. This dimensional approach simplifies the mechanism by constraining motion to straight-line movements along coordinate axes while still achieving complex formation transformations.
Solution Approach 2:
The patent introduces virtual rank structures and intermediate target positions as mediators to guide robot movements. Instead of robots directly navigating around each other's peripheries, they move toward intermediate positions along simplified paths defined by rank directions, reducing mechanism complexity while maintaining transformation capability.
3Device complexity
If robots slide over surfaces of other robots instead of moving around peripheries, then mechanism complexity is reduced, but transformation time increases proportionally to the square of the number of robots
Solution Approach 1:
The patent segments the transformation into compression and expansion phases. During the compression phase, multiple robots can simultaneously slide toward target positions along rank directions, parallelizing the transformation process and reducing overall time from O(n²) to O(n) complexity while maintaining the simple sliding mechanism.
Solution Approach 2:
The patent performs preliminary position calculations and assigns target positions to all robots before transformation begins. This allows robots to move directly to their destinations without sequential waiting, reducing transformation time while maintaining the simple sliding mechanism over robot surfaces.
Data Source
AI summary
An action control device controls movement of a plurality of control subjects. In particular, the present technology relates to a cooperative control of robots. The cooperative control comprises determining an action plan for each of a plurality of robots for respective movements. Given the action plan, the present case enables movements of the respective robots cooperatively from a state of rank formation in starting positions and cause the respective robots to form a rank in target position. In particular, the action plan comprises a set of operations where a plurality of robots extracted by deconstruction of parts of intermediate positions of robots are moved simultaneously to the locations to which the robots are to be added during construction of a subsequent intermediate positions of robots. The set of operations with simultaneous movements enables an increase in the speed of transformation of ranks formed by the plurality of robots.