{"type":"ScholarlyArticle","title":"An End-to-End System for Accomplishing Tasks with Modular Robots: Perspectives for the AI community","authors":[{"name":"Gangyuan Jing","slug":"gangyuan-jing","given":"Gangyuan","family":"Jing","affiliation":"Cornell Univ."},{"name":"Tarik Tosun","slug":"tarik-tosun","given":"Tarik","family":"Tosun","affiliation":"Univ. of Pennsylvania"},{"name":"Mark Yim","slug":"mark-yim","given":"Mark","family":"Yim","affiliation":"Univ. of Pennsylvania"},{"name":"Hadas Kress-Gazit","slug":"hadas-kress-gazit","given":"Hadas","family":"Kress-Gazit","affiliation":"Cornell Univ."}],"abstract":"The advantage of modular robot systems lies in their flexibility, but this advantage can only be realized if there exists some reliable, effective way of generating configurations (shapes) and behaviors (controlling programs) appropriate for a given task. In this paper, we present an end-to-end system for addressing tasks with modular robots, and demonstrate that it is capable of accomplishing challenging multi-part tasks in hardware experiments. The system consists of four tightly integrated components: (1) A high-level mission planner, (2) A design library spanning a wide set of functionality, (3) A design and simulation tool for populating the library with new configurations and behaviors, and (4) Modular robot hardware. This paper condenses the material originally presented in Jing et al. 2016 into a shorter format suitable for a broad audience.","doi":"10.24963/ijcai.2017/686","url":"https://ijcai.org/proceedings/2017/686","pdf":"https://ijcai.org/proceedings/2017/0686.pdf","markdown":"https://ijcai.org/proceedings/2017/686.md","bibtex":"https://ijcai.org/proceedings/2017/bibtex/686","volume":{"slug":"2017","title":"Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2017","url":"https://ijcai.org/proceedings/2017/","year":2017,"location":"Melbourne, Australia","dates":"19-25 August 2017","editors":"Carles Sierra","isbn":"978-0-9992411-0-3","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2017"},"section":"Best Sister Conferences","track":"Best Sister Conferences","number":686,"pages":{"first":4879,"last":4883},"keywords":["Artificial Intelligence: robotics","Artificial Intelligence: automated planning"],"videos":[],"references":[{"position":1,"raw":"[Belta et al., 2007] Calin Belta, Antonio Bicchi, Magnus Egerstedt, Emilio Frazzoli, Eric Klavins, and George J. 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