Experiments on fault-tolerant self-reconfiguration and emergent self-repair

David Johan Christensen

doi:10.1109/ALIFE.2007.367817

Experiments on fault-tolerant self-reconfiguration and emergent self-repair

David Johan Christensen

University of Southern Denmark

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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Abstract

This paper presents a series of experiments on fault tolerant self-reconfiguration of the ATRON robotic system. For self-reconfiguration we use a previously described distributed control strategy based on meta-modules that emerge, move and stop. We perform experiments on three different types of failures: 1) Action failure: On the physical platform we demonstrate how roll-back of actions are used to achieve tolerance to collision with obstacles and other meta-modules. 2) Module failure: In simulation we show, for a 500 module robot, how different degrees of catastrophic module failure affect the robot’s ability to shape-change to support an insecure roof. 3) Robot failure: In simulation we demonstrate how robot faults such as a broken robot bone can be emergent self-repaired by exploiting the redundancy of selfreconfigurable modules. We conclude that the use of emergent, distributed control, action roll-back, module redundancy, and self-reconfiguration can be used to achieve fault tolerant, self-repairing robots.
Keyword: Distributed control,Emergent phenomena,Self-adjusting systems,Redundancy,Fault tolerance,Robots

Original language	English
Title of host publication	Proceedings of the 2007 IEEE Symposium on Artificial Life
Publisher	IEEE
Publication date	2007
Pages	355-361
ISBN (Print)	9781424407019
DOIs	https://doi.org/10.1109/ALIFE.2007.367817
Publication status	Published - 2007
Externally published	Yes
Event	2007 IEEE Symposium on Artificial Life - Honolulu, United States Duration: 1 Apr 2007 → 5 Apr 2007

Conference

Conference	2007 IEEE Symposium on Artificial Life
Country/Territory	United States
City	Honolulu
Period	01/04/2007 → 05/04/2007

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Copyright 2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE

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title = "Experiments on fault-tolerant self-reconfiguration and emergent self-repair",

abstract = "This paper presents a series of experiments on fault tolerant self-reconfiguration of the ATRON robotic system. For self-reconfiguration we use a previously described distributed control strategy based on meta-modules that emerge, move and stop. We perform experiments on three different types of failures: 1) Action failure: On the physical platform we demonstrate how roll-back of actions are used to achieve tolerance to collision with obstacles and other meta-modules. 2) Module failure: In simulation we show, for a 500 module robot, how different degrees of catastrophic module failure affect the robot{\textquoteright}s ability to shape-change to support an insecure roof. 3) Robot failure: In simulation we demonstrate how robot faults such as a broken robot bone can be emergent self-repaired by exploiting the redundancy of selfreconfigurable modules. We conclude that the use of emergent, distributed control, action roll-back, module redundancy, and self-reconfiguration can be used to achieve fault tolerant, self-repairing robots. Keyword: Distributed control,Emergent phenomena,Self-adjusting systems,Redundancy,Fault tolerance,Robots",

author = "Christensen, \{David Johan\}",

note = "Copyright 2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE; 2007 IEEE Symposium on Artificial Life, ALIFE ; Conference date: 01-04-2007 Through 05-04-2007",

year = "2007",

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N1 - Copyright 2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE

PY - 2007

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N2 - This paper presents a series of experiments on fault tolerant self-reconfiguration of the ATRON robotic system. For self-reconfiguration we use a previously described distributed control strategy based on meta-modules that emerge, move and stop. We perform experiments on three different types of failures: 1) Action failure: On the physical platform we demonstrate how roll-back of actions are used to achieve tolerance to collision with obstacles and other meta-modules. 2) Module failure: In simulation we show, for a 500 module robot, how different degrees of catastrophic module failure affect the robot’s ability to shape-change to support an insecure roof. 3) Robot failure: In simulation we demonstrate how robot faults such as a broken robot bone can be emergent self-repaired by exploiting the redundancy of selfreconfigurable modules. We conclude that the use of emergent, distributed control, action roll-back, module redundancy, and self-reconfiguration can be used to achieve fault tolerant, self-repairing robots. Keyword: Distributed control,Emergent phenomena,Self-adjusting systems,Redundancy,Fault tolerance,Robots

AB - This paper presents a series of experiments on fault tolerant self-reconfiguration of the ATRON robotic system. For self-reconfiguration we use a previously described distributed control strategy based on meta-modules that emerge, move and stop. We perform experiments on three different types of failures: 1) Action failure: On the physical platform we demonstrate how roll-back of actions are used to achieve tolerance to collision with obstacles and other meta-modules. 2) Module failure: In simulation we show, for a 500 module robot, how different degrees of catastrophic module failure affect the robot’s ability to shape-change to support an insecure roof. 3) Robot failure: In simulation we demonstrate how robot faults such as a broken robot bone can be emergent self-repaired by exploiting the redundancy of selfreconfigurable modules. We conclude that the use of emergent, distributed control, action roll-back, module redundancy, and self-reconfiguration can be used to achieve fault tolerant, self-repairing robots. Keyword: Distributed control,Emergent phenomena,Self-adjusting systems,Redundancy,Fault tolerance,Robots

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DO - 10.1109/ALIFE.2007.367817

M3 - Article in proceedings

SN - 9781424407019

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EP - 361

BT - Proceedings of the 2007 IEEE Symposium on Artificial Life

PB - IEEE

T2 - 2007 IEEE Symposium on Artificial Life

Y2 - 1 April 2007 through 5 April 2007

ER -

Experiments on fault-tolerant self-reconfiguration and emergent self-repair

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