We consider the problem of dynamic self-reconfiguration in a modular self-reconfigurable robot (MSR). Previous approaches to MSR self-reconfiguration solve this problem using algorithms that search for a goal configuration in the MSR’s configuration space. In contrast, we model the selfreconfiguration problem as a constrained optimization problem that attempts to minimize the reconfiguration co...

A risk of covert insertion of circuitry into reconfigurable computing (RC) systems exists. This paper reviews risks of hardware attack on field programmable gate array (FPGA)-based RC systems and proposes a method for secure system credentials generation (unique, random and partially anonymous) and trusted self-reconfiguration, using a secure reconfiguration controller (SeReCon) and partial rec...

This paper presents a biologically inspired approach to two basic problems in modular self-reconfigurable robots: adaptive communication in self-reconfigurable and dynamic networks, and distributed collaboration between the physically coupled modules to accomplish global effects such as locomotion and reconfiguration. Inspired by the biological concept of hormone, the paper develops the adaptiv...

The design and physical implementation of a self-controlling dynamically reconfigurable system is described in detail. The reconfiguration control logic and target application execute in parallel within the same FPGA. In addition, the data required for each reconfiguration is generated on demand. A pattern-matching algorithm is used to investigate the viability of systems that exhibit self-cont...

Self-adaptive systems autonomously adjust their behavior in order to achieve their goals despite changes in the environment and the system itself. Self-adaption is typically implemented in software and often expressed in terms of architectural reconfiguration. The graph transformation formalism is a natural way to model the architectural reconfiguration in self-adaptive systems. In this paper, ...

Companies are nowadays placed in very complex and dynamic environments, making their competitiveness mandatory. This competitiveness can also be achieved through the reconfiguration of systems’ network. In this paper, high level of self-organization of service-oriented multi-agent systems is explored, aiming to achieve more trustworthy and automatic reconfiguration processes, in dynamic and ope...

It is widely recognized that a high degree of dependability of computer-based systems can be achieved if dependability consideration starts from the early stages of system development [10]. In this paper we propose an approach for incorporating means for fault-tolerance in the component-based system development. We discuss architecture of a fault-tolerant system based on a composition of so cal...

We discuss a robotic module called a Molecule. Molecules can be the basis for building selfreconfiguring robots. They support multiple modalities of locomotion and manipulation. We describe the design, functionality, and control of the Molecule. We show how a set of Molecules can aggregate as active three-dimensional structures that can move and change shape. Finally, we discuss global motion a...

In this paper we describe detail of hardware design of novel self-reconfigurable robotic system. We have classified previous studies on self-reconfigurable robotic systems into “lattice type” composed of spatially symmetric modules and “string type” like snake robots. The proposed system has both the advantages of simple operation of self-reconfiguration of the former and motion generation abil...

Self-reconfigurable robots are built from modules which are autonomously able to change the way they are connected, thus changing the overall shape of the robot. This process is difficult to control, because it involves the distributed coordination of large numbers of identical modules connected in time-varying ways. We present an approach to self-reconfiguration where the desired configuration...