An Analysis of Collective Property caused by Structure Reconfiguration

• Autores: Tomoyuki Kaga, Toshio Fukuta
• Localización: Distributed Autonomous Robotic Systems 3 / coord. por Tim Lueth, Rudiger Dillmann, Paolo Dario, Heinz Wörn, 1998, ISBN 9783642721984, págs. 405-414
• Idioma: inglés
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• Resumen

  • Cellular Robotic System (CEBOT) is one of the Distributed Autonomous Robotic System(DARS) which consists of heterogeneous robotic units called “cell”s. A robot of CEBOT can change their function through structure reconfiguration achieved by mechanical connection or disconnection of cell. Pointedly, an important peculiarity of this system is availability of variable function of a robot by structure reconfiguration. Structure reconfiguration increases adaptability against the change of environment. However, it has a specific problem concerned with the cost for changing functions. So we analyzed this property and indicate the trade-off between adaptability and efficiency through computer simulations by using a model of load transportation.