Multiagent Control of Self-reconfigurable Robots

Details Multiagent Control of Self-reconfigurable Robots Multiagent Control of Self-reconfigurable Robots

2000-06-20

arxiv.org/abs/cs/0006030v2

Artificial Intelligence 142:99-120 (2002)

Computer Science

Robotics

15 pages, 10 color figures, including low-resolution photos of prototype hardware

Scientific paper

We demonstrate how multiagent systems provide useful control techniques for modular self-reconfigurable (metamorphic) robots. Such robots consist of many modules that can move relative to each other, thereby changing the overall shape of the robot to suit different tasks. Multiagent control is particularly well-suited for tasks involving uncertain and changing environments. We illustrate this approach through simulation experiments of Proteo, a metamorphic robot system currently under development.

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