Reconfigurable Teams: Cooperative Goal Seeking with Self-Reconfigurable Robots

摘要: Self-reconfigurable (SR) robots have been developed with the promise of enabling a wide range abilities within single hardware system. Particularly in context locomotion, SR may be able to traverse wider environments than traditional legged or wheeled robots. Additionally, large number modules, system divide explore areas parallel and recombine make larger, more capable groups. However, choice how merge these “reconfigurable teams” most effectively solve tasks such as exploration unknown terrain remains unanswered. This problem can seen superset multi-robot exploration, must not only choose places visit but also coordinate dynamically adjust entities team. In this paper, we present state-based distributed control algorithm for reconfigurable team that uses local sensory information model actions environment. We show set empirical results from simulation best strategy depend on nature