Self-organized control in cooperative robots using a pattern formation principle

Jens Starke, Carmen Ellsaesser, Toshio Fukuda

    Research output: Contribution to journalJournal articleResearchpeer-review

    Abstract

    Self-organized modular approaches proved in nature to be robust and optimal and are a promising strategy to control future concepts of flexible and modular manufacturing processes. We show how this can be applied to a model of flexible manufacturing based on time-dependent robot-target assignment problems where robot teams have to serve manufacturing targets such that an objective function is optimized. Feasibility of the self-organized solutions can be guaranteed even for unpredictable situations like sudden changes in the demands or breakdowns of robots. As example an uncrewed space mission is visualized in a simulation where robots build a space station.
    Original languageEnglish
    JournalPhysics Letters A
    Volume375
    Issue number21
    Pages (from-to)2094-2098
    ISSN0375-9601
    DOIs
    Publication statusPublished - 2011

    Keywords

    • Distributed robotic systems
    • Assignment problems
    • Robust behavior
    • Selection equations

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