Hormone-inspired adaptive communication and distributed control for CONRO self-reconfigurable robots

IEEE Transactions on Robotics and Automation

Volumn 18, Issue 5, 2002, Pages 700-712

  Shen, Wei Min ^a   Salemi, Behnam ^a   Will, Peter ^a  

^a UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

Author keywords

Adaptive communication; Distributed control; Dynamic networks; Multi agent systems; Self reconfigurable robots; Self reconfigurable systems

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; COMPUTER SIMULATION; DISTRIBUTED PARAMETER CONTROL SYSTEMS; MULTI AGENT SYSTEMS;

SELF-RECONFIGURABLE ROBOTS;

ROBOTS;

EID: 0036817670     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2002.804502     Document Type: Article

References (41)

1. D. Estrin, R. Govindan, J.S. Heidemann, and S. Kumar, "Next century challenges: Scalable coordination in sensor networks," Mobile Computing and Networking, pp. 263-270, 1999.
2. E. Bonabeau, M. Dorigo, and G. Theraulaz, Swarm Intelligence: From Natural to Artificial Systems. New York: Oxford Univ. Press, 1999.
3. R. Felderman, A. DeSchon, D. Cohen, and G. Finn, "ATOMIC: A high-speed local communication architecture," J. High Speed Networks, vol. 1, no. 1, pp. 1-28, 1994.
4. M. Yim, Y. Zhang, and D. Duff, "Modular robots," IEEE Spectrum, 2002.
5. D. Rus, Z. Butler, K. Kotay, and M. Vona, "Self-reconfiguring robots," ACM Commun., 2002.
6. M. Yim, "Locomotion with a Unit-Modular Reconfigurable Robot," Ph.D. dissertation, Dep. Mech. Eng., Stanford Univ., 1994.
7. G.S. Chirikjian, A. Pamecha, and I. Ebert-Uphoff, "Evaluating efficiency of self-reconfiguration in a class of modular robots," J. Robot. Syst., vol. 13, no. 5, pp. 317-338, 1996.
8. A. Pamecha, I. Ebert-Uphoff, and G.S. Chirikjian, "Useful metrics for modular robot motion planning," IEEE Trans. Robot. Automat., vol. 13, no. 4, pp. 531-545, 1997.
9. G.S. Chirikjiau and J.W. Burdick, "The kinematics of hyper-redundant robotic locomotion," IEEE Trans. Robot. and Automat., vol. 11, no. 6, pp. 781-793, 1995.
10. K. Kotay and D. Rus, "Locomotion versatility through self-reconfiguration," Robot. Autonom. Syst., vol. 26, pp. 217-232, 1999.
11. A. Castano, W.-M. Shen, and P. Will, "CONRO: Toward miniature self-sufficient metamorphic robots," Autonom. Robots, vol. 8, pp. 309-324, 2000.
12. A. Castano and P. Will, "Representing and discovering the configuration of CONRO robots," presented at the Int. Conf. on Robotics and Automation, Seoul, Korea, 2001.
13. D. Rus and M. Vona, "Crystalline robots: Self-reconfiguration with compressible unit modules," J. Autonom. Robots, vol. 10, no. 1, pp. 107-124, 2001.
14. C. Unsal, H. Kiliccote, and P.K. Khosla, "A modular self-reconfigurable bipartite robotic system: Implemenation and motion planning," Autonom. Robots, vol. 10, pp. 23-40, 2001.
15. E. Yoshida, S. Murata, A. Kamimura, K. Tomita, H. Kurokawa, and S. Kokaji, "A motion planning method for a self-reconfigurable modular robot," presented at the Int. Conf. on Intelligent Robots and Systems, Maui, HI, 2001.
16. A. Kamimura, S. Murata, E. Yoshida, H. Kuraokawa, K. Tomita, and S. Kokaji, "Self-reconfigurable modular robot-Experiments on reconfiguration and locomotion," presented at the Int. Conf. on Intelligent Robots and Systems, Maui, HI, 2001.
17. T. Fukuda and Y. Kawanchi, "Cellular robotic system (CEBOT) as one of the realization of self-organizing intelligent universal manipulator," Proc. IEEE Int. Conf. on Robotics Automation, 1990.
18. S. Murata, H. Kurokawa, and S. Kokaji, "Self-assembling machine," Proc. IEEE Int. Conf. on Robotics Automation, 1994.
19. E. Yoshida, S. Murata, K. Tomita, H. Kurokawa, and S. Kokaji, "Distributed formation control of a modular mechanical system," presented at the Int. Conf. on Intelligent Robots and Systems, 1997.
20. E. Yoshida, S. Murata, H. Kurokawa, K. Tomita, and S. Kokaji, "A distributed reconifuration method for 3-D homogeneous structure," presented at the IEEE/RSJ Intl. Conf. Intelligent Robotics and Systems, 1998.
21. K. Tomita, S. Murata, H. Kurokawa, E. Toshida, and S. Kokaji, "Self-assembly and self-repair method for a distributed mechanical system," IEEE Trans. Robot. Automat., vol. 15, no. 6, pp. 1035-1045, 1999.
22. S. Murata, E. Yoshida, H. Kurokawa, K. Tomita, and S. Kokaji, "Self-repairing mechanical systems," Autonom. Robots, vol. 10, pp. 7-21, 2001.
23. W.M. Shen, Y. Lu, and P. Will, "Hormone-based control for self-reconfigurable robots," presented at the Int. Conference on Autonomous Agents, Barcelona, Spain, 2000.
24. W.M. Shen, B. Salemi, and P. Will, "Hormones for self-reconfigurable robots," presented at the Proceedings of the 6th International Conference on Intelligent Autonomous Systems, Venice, Italy, 2000.
25. B. Salemi, W.-M. Shen, and P. Will, "Hormone-controlled metamorphic robots," presented at the Int. Conf. on Robotics and Automation, Seoul, Korea, 2001.
26. W.M. Shen and P. Will, "Docking in self-reconfigurable robots," presented at the Int. Conf. on Intelligent Robots and Systems, Maui, HI, 2001.
27. K. Stoy, W.M. Shen, and P. Will, "Global locomotion from local interaction in self-reconfigurable robots," presented at the 7th Int. Conf. on Intelligent and Autonomous Systems, Marina del Rey, CA, 2002.
28. _, "How to make a self-reconfigurable robot run?," presented at the Joint Conf. of ICAMS and Autonomous Agents, 2002.
29. H. Bojinov, A. Casal, and T. Hogg, "Multiagent control of self-reconfigurable robots," presented at the Int. Conf. on Multiagent Systems, 2000.
30. M. Yim, Y. Zhang, J. Lamping, and E. Mao, "Distributed control for 3D metamorphosis," Autonom. Robots, vol. 10, pp. 41-56, 2001.
31. S. Vassilvitskii, M. Yim, and J. Suh, "A complete, local and parallel reconfiguration algorithm for cube style modular robots," presented at the Int. Conf. on Robotics and Automation, Washington, DC, 2002.
32. Z. Butler, K. Kotay, D. Rus, and K. Tomita, "Generic decentralized control for a class of self-reconfigurable robots," presented at the Int. Conf. on Robotics and Automation, Washington, DC, 2002.
33. H. Ihara and K. Mori, "Autonomous decentralized computer control systems," IEEE Computer, vol. 17, no. 8, pp. 57-66, 1984.
34. K. Mori, S. Miyamoto, and H. Ihara, "Autonomous decentralized computer system and software structure," Computer Syst. Sci. Eng., vol. 1, no. 1, pp. 17-22, 1985.
35. K. Mori, "Autonomous decentralized system technologies and their application to train transport operation system," presented at the High Integrity Software Conf., Albuquerque, NM, 1999.
36. S. Fahlman, Three Flavors of Parallelism. Pittsburgh, PA: Carnegie Mellon Universtiy, 1982.
37. R.C. Arkin, "Homeostatic control for a mobile robot: Dynamic replanning in hazardous environments," J. Robot. Syst., vol. 9, no. 2, pp. 197-214, 1992.
38. K. Sims, "Evolving virtual creatures," in Proc. SIGGRAPH'94 Computer Graphics, Annu. Conf. Series, 1994.
39. Knowledge Revolution Working Model 3D User's Manuals, 1997. User-Manual.
40. B. Salemi, W.M. Shen, and P. Will, "Distributed task selection in chain-type metamorphic robots," in Proc. Int. Conf. on Robotics and Automation, Taiwan, R.O.C., 2003. (submitted).
41. H.A. Simon, The Sciences of Artificial. Cambridge, MA: MIT Press, 1996.