Abstract
This paper presents an approach for distributed control for the individual modules
in the ATRON self-recongurable robotic system. The ATRON is a lattice-type
module, which has a single degree of freedom. The system is recongured using metamodules,
which are simple, consisting of only three modules. But they have far higher
capabilities than a single module, because they can crawl relatively freely on the surface
of other modules.We let the metamodules emerge from the structure and migrate
from one place to another, before they die and become structure again. Then, by controlling
the ow of metamodules, we can change the shape of the structure. We introduce
three different algorithms for migration of metamodules on the structure, and
show that by using these, we can make the structure change its shape signicantly in
a controllable manner.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the The 8th Conference on Intelligent Autonomous Systems |
| Publication date | 2004 |
| Pages | 685-692 |
| Publication status | Published - 2004 |
| Externally published | Yes |
| Event | 8th Conference on Intelligent Autonomous Systems - Amsterdam, Netherlands Duration: 10 Mar 2004 → 14 Mar 2004 |
Conference
| Conference | 8th Conference on Intelligent Autonomous Systems |
|---|---|
| Country/Territory | Netherlands |
| City | Amsterdam |
| Period | 10/03/2004 → 14/03/2004 |