Autonomous discovery and functional response to topology change in self-reconfigurable robots

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外文摘要：The topology of a self-reconfigurable robot can change at anytime。 This can be as a result of the failure of some modules of the robot， joining new modules to the robot， displacement of some modules from one location to another caused by the self-reconfiguration task or any combination of these cases。 Considering that the process of selecting relevant behaviors to accomplish a given task is based on the current topology of the self-reconfigurable robot， modules must be able to detect and respond to any changes to the robot topology。 When changes to the topology of the robot are detected， modules can investigate new ways of accomplishing the given task。 This paper presents a distributed solution， FEATURE algorithm， to the problem of autonomous discovery and functional response to topology change。 The result is experimentally verified and demonstrated on the CONRO self-reconfigurable robots。

外文关键词：

robotstopologyself-adjusting systemsautonomous discoveryfunctional responsetopology changerobot topologyFEATURE algorithmCONRO self-reconfigurable robots

作者：

B. Salemi、P. Will、Wei-Min Shen

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作者单位：

Dept. of Comput. Sci., Univ. of Southern California, Marina del Rey, CA, USA

会议母体文献：

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on

页码：

p.2667-2672

出版时间：

2004

DOI：

10.1109/IROS.2004.1389811