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This paper presents an algorithm that deterministically plans the simultaneous, collision-free movement of n hexagonal metamorphic robots (modules) over any contiguous surface composed of modules in a hexagonal grid. A planning stage algorithm identifies narrow passages between surface cells where moving modules will come into contact. After identifying all narrow passages on a surface, our algorithm...
One approach to the coordination of the movement of autonomous agents in self-organising systems is to use virtual potential fields, analagous to potential fields found in physics. Agents act as charged particles generating fields which other agents react to by ascending or descending the gradients of these fields, or by moving along equipotential lines. This approach has been suggested for free-flight...
This paper presents a new paradigm in the design of indoor flying robots that replaces collision avoidance with collision robustness. Indoor flying robots must operate within constrained and cluttered environments where even nature's most sophisticated flyers such as insects cannot avoid all obstacles and should thus be able to withstand collisions and recover from them autonomously. A prototype platform...
We deal with self-adaptive systems where each local entity has autonomy in the way of strong coactivity with others entities to make the emergence of a coherent general state of the complete system. The paper focus on the architecture of a self adaptive system based on massive multi agent systems. The system allows the monitoring and on-line restructuring thanks to ontology. It is dedicated to a complex...
In this paper, we introduce the concept of a novel robotic module, the ldquoR-Cellrdquo. R-Cell can be utilized in constructing distributed, homogeneous robotic systems. Each R-Cell is a rectangle endowed with: (a) motion capabilities provided by four revolutionary joints, each equipped with a clamping mechanism, and (b) deformation capabilities realized by four prismatic joints. The proposed module...
This paper proposes a novel mobile self-reconfigurable robot called Tanbot consisting of several mobile modules. Single module is capable of simple self-reconfiguration by expanding itself. Several modules can dock together one by one to be a whole robot via sensors and cameras. An embedded navigation module is designed to enhance the position accuracy of Tanbot, and to improve the docking efficiency.
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