Lattice Automata for Control of Self-Reconfigurable Robots

摘要: Self-reconfigurable robots are built from robotic modules typically organised in a lattice. The themselves complete, although simple, and have onboard batteries, actuators, sensors, processing power, communication capabilities. can automatically connect to disconnect neighbour move around the lattice of modules. self-reconfigurable robot as whole can, through this automatic rearrangement modules, change its own shape adapt environment or response new tasks. Potential advantages extreme versatility robustness. organisation structure emphasis on local between mean that automata useful basis for control robots. However, there significant differences which arise mainly physical nature opposed virtual automata. problems resulting these mutual exclusion, handling motion constraints unrealistic assumption about global, spatial orientation. Despite community has successfully applied simple problems. more complex hybrid solutions based distributed algorithms used. Hence, shown potential robots, but still unifying implementation solving problem running is yet be demonstrated.