Abstract
This paper explores self-assembling artefacts using distributed control. General design methods for distributed self-assembling artefacts are described and a simulator is developed to simulate an existing robotic unit (M-TRAN) in a self-assembling context. Two multiagent behaviors are implemented in the simulation to test the performance of the distributed system. The behaviors are compared favorable against existing motion planning methods (e.g. cluster flow) for these self-assembling modular robots.
Links to the research done on these modules are supplied at the Hydra web-page (http://hydra.mip.sdu.dk)
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References
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Eiichi Yoshida, Satoshi Murata, Akiya Kamimura, Kohji Tomita, Haruhisa Kurokawa, and Shigeru Kokaji. A Motion Planning Method for a Self-Reconfigurable Modular Robot. IROS2001, 2001.
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© 2003 Springer-Verlag Berlin Heidelberg
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Hautop Lund, H., Lock Larsen, R., Hallundbæk Østergaard, E. (2003). Distributed Control in Self-reconfigurable Robots. In: Tyrrell, A.M., Haddow, P.C., Torresen, J. (eds) Evolvable Systems: From Biology to Hardware. ICES 2003. Lecture Notes in Computer Science, vol 2606. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36553-2_27
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DOI: https://doi.org/10.1007/3-540-36553-2_27
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