Distributed Autonomous Robotic System 6 (v. 6) by Richard Alami, Raja Chatila, Hajime Asama

By Richard Alami, Raja Chatila, Hajime Asama

DARS is now a well-established convention that gathers each years the most researchers in dispensed Robotics platforms. no matter if the sector is transforming into, it's been maintained a one-track convention that allows you to implement powerful exchanges among the most researchers within the box. It now a well-established culture to submit the most contributions as a booklet from Springer. There are already five books entitled "Distributed self sustaining robot structures" 1 to 5.

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Additional info for Distributed Autonomous Robotic System 6 (v. 6)

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40 Fig. 5. 1 Hardware and Simulation Implementation Although the implementation given in section 5 can perform rudimentary assembly, it is not yet complete. It does not implement any form of breadthfirst signal propagation, nor does it tackle the problems that could occur when two adjacent Hydrous switch on transmitters pointing in the same direction (although a form of local signal suppression would probably be sufficient here). More importantly, it cannot reach all connected object configurations, because of the simplistic method used for Hydron docking and the narrow range of the Hydron's sensors.

Experiment with two actual mobile robot 54 ing in t h e environment are challenging. T h e extension and modification for non-holonomic should be made in t h e near future. Acknowledgement T h e experiment using omnidirectional drive machanism in this paper has been done under advisory of Prof. Hajime Asama of t h e Univ. of Tokyo. References 1. J. Borenstein and Y. Koren, The vector field histogram-fast obstacle avoidance for mobile robots. IEEE Transactions on Robotics and Automation. 278-288, June 1991.

As mentioned before, most modular robots developed so far have their modules connected mechanically and/or electromagnetically by highly rigid mechanisms. Under this kind of connection mechanism, however, the control algorithm required usually ends up to be extremely complicated and intractable since it has to always specify which modules should be connected physically as well as how each module should be moved. In addition, module connections done by such a highly rigid mechanism may impair some of the advantages expected, particularly the flexibility against environmental changes.

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