Towards an Efficient Self-organizing Reconfiguration Method for Self-reconfigurable Robots
This paper deals with the essential technique for self-organizing metamorphosis of self-reconfigurable robots. A general model describing self-reconfigurable robots is proposed; the model is capable of expressing the topological structure of typical 2-D and 3-D self-reconfigurable robots. Afterwards...
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| Veröffentlicht in: | Journal of intelligent & robotic systems 2003-08, Vol.37 (4), p.415-425 |
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| container_end_page | 425 |
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| container_title | Journal of intelligent & robotic systems |
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| creator | Xu, Wei Wang, Shi-gang Wang, An-lin Wang, Guo-bao |
| description | This paper deals with the essential technique for self-organizing metamorphosis of self-reconfigurable robots. A general model describing self-reconfigurable robots is proposed; the model is capable of expressing the topological structure of typical 2-D and 3-D self-reconfigurable robots. Afterwards, a self-organizing metamorphic strategy of self-reconfigurable robots, based on full-discrete local intelligence, is proposed. The modules concurrently process the local interactive information. A reasonable motion sequence for modules can be obtained by means of determining and evolving the rules of modules motion. Consequently, the global self-organizing behavior will be obtained, and the complexity of the algorithm is reduced. Simulation samples are provided to illustrate this approach and demonstrate the effectiveness of the proposed strategy. |
| doi_str_mv | 10.1023/A:1026198500589 |
| format | Article |
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| language | eng |
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| subjects | Computer simulation Intelligence Interactive Mathematical models Modules Reconfiguration Robots Strategy Studies |
| title | Towards an Efficient Self-organizing Reconfiguration Method for Self-reconfigurable Robots |
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