Natural Growth-Inspired Distributed Self-Reconfiguration of UBot Robots
Joint Authors
Zhao, Jie
Bie, Dongyang
Sajid, Iqbal
Han, Jianda
Zhu, Yanhe
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-01-02
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
The decentralized self-reconfiguration of modular robots has been a challenging problem.
This work proposed a biological method inspired by the plant growth for the distributed self-reconfiguration of UBot systems.
L-systems are implemented to construct target topology, and turtle interpretation is extended to lead the self-reconfiguration process.
Parametric reproduction rules introduce the external influence to the reconfiguration process by distributed modules’ local sensing.
Each module can move independently to change relative positions, and robotic structures develop in the natural growth style.
This leads to a convergent and environmentally sensitive control method for the distributed self-reconfiguration.
Reconfiguration processes can converge to desired configuration and are scalable to module numbers by reproducing predefined substructures in principle.
The overall performance of the proposed strategy is evaluated with simulations and 11 experiments.
Simulation and experimental results turn out to be convergent and environmentally sensitive.
American Psychological Association (APA)
Bie, Dongyang& Sajid, Iqbal& Han, Jianda& Zhao, Jie& Zhu, Yanhe. 2019. Natural Growth-Inspired Distributed Self-Reconfiguration of UBot Robots. Complexity،Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1131270
Modern Language Association (MLA)
Bie, Dongyang…[et al.]. Natural Growth-Inspired Distributed Self-Reconfiguration of UBot Robots. Complexity No. 2019 (2019), pp.1-12.
https://search.emarefa.net/detail/BIM-1131270
American Medical Association (AMA)
Bie, Dongyang& Sajid, Iqbal& Han, Jianda& Zhao, Jie& Zhu, Yanhe. Natural Growth-Inspired Distributed Self-Reconfiguration of UBot Robots. Complexity. 2019. Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1131270
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1131270