Efficient distributed hormone graph gradients

摘要: Several researchers have attempted extract the principles behind hormone gradients found in biological system, and apply them to control physically manifested distributed systems. This paper presents an efficient implementation of a graph-based version gradient mechanisms. The algorithm is based on hop-counting topological distance between any given vertex emitting vertex, can deal with dynamic changes topology system. Performance described documented through number experiments. was developed for use self-reconfigurable robotics, but might very well be useful many other applications. provide common coordinate system collection self-recon figurable robot modules described, that provides pose relative module all affected by hormone.