Autonomous Reconfiguration in a Self-assembling Multi-robot System
نویسندگان
چکیده
Self-assembling multi-robot systems can, in theory, overcome the physical limitations of individual robots by connecting to each other to form particular physical structures (morphologies) relevant to specific tasks. Here, we show for the first time how robots in a real-world multi-robot system can autonomously self-assemble into and reconfigure between arbitrary morphologies. We use a distributed control paradigm. The robots are individually autonomous and homogeneous they all independently execute the same control program. Inter-robot communication is visual and strictly local. We demonstrate our technique on real robots.
منابع مشابه
Effective Mechatronic Models and Methods for Implementation an Autonomous Soccer Robot
Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...
متن کاملToward Self-replicating Robots
In this paper we describe several prototypes of self-replicating robotic systems that have been developed at JHU. In contrast to self-reconfiguration, selfreplication is the process of assembling a functional robot from passive components. The robot that is assembled (the replica) is an exact copy of the robot doing the assembling. Our presentation marks the beginning of the JHU effort in this ...
متن کاملCooperation through self-assembling in multi-robot systems
This paper illustrates the methods and results of two sets of experiments in which a group of mobile robots, called s-bots, are required to physically connect to each other—i.e., to selfassemble—to cope with environmental conditions that prevent them to carry out their task individually. The first set of experiments is a pioneering study on the utility of self-assembling robots to address relat...
متن کاملUsing cellular automata and gradients to control self-reconfiguration
Self-reconfigurable robots are built from modules, which are autonomously able to change the way they are connected. Such a robot can, through this self-reconfiguration process, change its shape. The process has proved to be difficult to control, because it involves control of a distributed system of mechanically coupled modules connected in time-varying ways. In this paper we present an approa...
متن کاملAn Integrated System for Perception-Driven Autonomy with Modular Robots
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage, but has never been experimentally demonstrated. For the first time, we present a system that integrates perception, high-level mission planning, and modular robot hardware, allowing a modular robot to autonomously reconfigure in respon...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2008