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Design Principles for the Distributed Control of Modular Self-Reconfigurable Robots

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Collectives and the Design of Complex Systems

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Summary

Modular self-reconfigurable (MSR) robots consist of many identical modules that can move, attach, and detach relative to each other, thereby changing the robot's overall shape. This chapter presents general design techniques for the distributed multiagent control algorithms of MSR robots, based on local rules. These techniques are illustrated with simulation experiments on two types of MSR robots: Proteo and TeleCube.

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Author information

Authors and Affiliations

  1. Stanford University, USA

    Arancha Casal

  2. HP Laboratories, Palo Alto, CA, 94304, USA

    Tad Hogg

Authors
  1. Arancha Casal
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  2. Tad Hogg
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Editor information

Editors and Affiliations

  1. Computational Sciences Division, NASA Ames Research Center, Moffett Field, CA, 94035, USA

    Kagan Tumer  & David Wolpert  & 

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Casal, A., Hogg, T. (2004). Design Principles for the Distributed Control of Modular Self-Reconfigurable Robots. In: Tumer, K., Wolpert, D. (eds) Collectives and the Design of Complex Systems. Springer, New York, NY. https://doi.org/10.1007/978-1-4419-8909-3_9

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  • DOI: https://doi.org/10.1007/978-1-4419-8909-3_9

  • Publisher Name: Springer, New York, NY

  • Print ISBN: 978-1-4612-6472-9

  • Online ISBN: 978-1-4419-8909-3

  • eBook Packages: Springer Book Archive

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