Skip to main content

Distributed Control in Self-reconfigurable Robots

  • Conference paper
  • First Online:
Evolvable Systems: From Biology to Hardware (ICES 2003)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2606))

Included in the following conference series:

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)

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Satoshi Murata, Eiichi Yoshida, and Kohji Tomita. Hardware design of modular robotic system. In 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), 2000

    Google Scholar 

  2. Carl Adam Petri. Kommunikation mit Automaten. PhD thesis, Universität Bonn, 1962.

    Google Scholar 

  3. 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.

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2003 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

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

Download citation

  • DOI: https://doi.org/10.1007/3-540-36553-2_27

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00730-2

  • Online ISBN: 978-3-540-36553-2

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics