Design Principles for the Distributed Control of Modular Self-Reconfigurable Robots

Arancha Casal () and Tad Hogg ()
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Arancha Casal: Stanford University
Tad Hogg: HP Laboratories

Chapter 9 in Collectives and the Design of Complex Systems, 2004, pp 213-230 from Springer

Abstract: Summary Modular self-reconfigurable (MSR) robots consist of many identical modules that can move, attach, and detach relative to each other, thereby changing the robot's overall shape. This chapter presents general design techniques for the distributed multiagent control algorithms of MSR robots, based on local rules. These techniques are illustrated with simulation experiments on two types of MSR robots: Proteo and TeleCube.

Keywords: Mobile Robot; Active Root; Local Rule; Goal Location; Weight Shift (search for similar items in EconPapers)
Date: 2004
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-1-4419-8909-3_9

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DOI: 10.1007/978-1-4419-8909-3_9

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