A Grammar for the Representation of Unmanned Aerial Vehicles with 3D Topologies
This work addresses the challenge of design exploration and optimization for robotic platforms, specifically UAVs, but it appears incremental as it builds on existing grammar-based approaches for robotics.
The authors tackled the problem of systematically exploring the design space for 3D robot topologies, particularly unmanned aerial vehicles, by proposing a context-sensitive grammar that defines local production rules for adding components to incomplete designs on a 3D grid, resulting in a simple yet capable method that can model most existing UAVs and novel ones.
We propose a context-sensitive grammar for the systematic exploration of the design space of the topology of 3D robots, particularly unmanned aerial vehicles. It defines production rules for adding components to an incomplete design topology modeled over a 3D grid. The rules are local. The grammar is simple, yet capable of modeling most existing UAVs as well as novel ones. It can be easily generalized to other robotic platforms. It can be thought of as a building block for any design exploration and optimization algorithm.