A membrane computing framework for self-reconfigurable robots
Self-reconfigurable robots are built by modules which can move in relationship to each other, which allows the robot to change its physical form. Finding a sequence of module moves that reconfigures the robot from the initial configuration to the goal configuration is a hard task and many control al...
| Authors: | , , , |
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| Format: | article |
| Status: | Versión enviada para evaluación y publicación |
| Publication Date: | 2019 |
| Country: | España |
| Institution: | Universidad de Sevilla (US) |
| Repository: | idUS. Depósito de Investigación de la Universidad de Sevilla |
| OAI Identifier: | oai:idus.us.es:11441/106741 |
| Online Access: | https://hdl.handle.net/11441/106741 https://doi.org/10.1007/s11047-018-9702-1 |
| Access Level: | Open access |
| Keyword: | Modular robots Membrane Computing Distributed control Self-reconfiguration Cellular automata P systems |
| Summary: | Self-reconfigurable robots are built by modules which can move in relationship to each other, which allows the robot to change its physical form. Finding a sequence of module moves that reconfigures the robot from the initial configuration to the goal configuration is a hard task and many control algorithms have been proposed. In this paper, we present a novel method which combines a cluster-flow locomotion based on cellular automata together with a decentralized local representation of the spatial geometry based on membrane computing ideas. This new approach has been tested with computer simulations and real-world experiments performed with modular self-reconfigurable robots and represents a new point of view with respect other control methods found in the literature. |
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