Morphing-Enabled Path Planning for Flying Tensegrity Robots as a Semidefinite Program

Savin, Sergei and Klimchik, Alexandr (2022) Morphing-Enabled Path Planning for Flying Tensegrity Robots as a Semidefinite Program. Frontiers in Robotics and AI, 9. ISSN 2296-9144

[thumbnail of pubmed-zip/versions/1/package-entries/frobt-09-812849/frobt-09-812849.pdf] Text
pubmed-zip/versions/1/package-entries/frobt-09-812849/frobt-09-812849.pdf - Published Version

Download (1MB)


The development of deformable drones is of high importance but presents significant challenges. Such drones can be based on tensegrity structures, which leaves open the questions of configuration-space path planning for such robots. In this paper we propose a method that takes advantage of a simplified encoding of the drone’s shape, allowing to turn the path planning into a sequence of semidefinite programs. The mapping from the simplified description and the actual tensegrity configuration is done via a data-driven method, using a pre-computed dataset of statically stable configurations and their outer Löwner-John ellipsoids, as well as eigendecompositions of the ellipsoid matrices. Together it allows rapid containment check, whose computational cost depends linearly on the number of dataset entries. Thus, the proposed method offloads computationally-intensive parts to the offline dataset generation procedure, speeding up the algorithm execution.

Item Type: Article
Subjects: Eprints AP open Archive > Mathematical Science
Depositing User: Unnamed user with email
Date Deposited: 30 Jun 2023 05:09
Last Modified: 20 Nov 2023 05:15

Actions (login required)

View Item
View Item