A decentralized control framework for modular robots

H. Y.K. Lau*, Albert Ko, T. L. Lau

*Corresponding author for this work

Research output: Book Chapters | Papers in Conference ProceedingsConference paper (refereed)Researchpeer-review

13 Citations (Scopus)

Abstract

Distributed control paradigm offers robustness, scalability, and simplicity to the control and organization of module based systems. MSR (Modular Self-Reconfigurable) robot is a class of robot that best demonstrate the effectiveness of distributed systems as all modules in the robot are individuals that perform their own actuation and computation; the behavior of the complete robot is a collective behavior of all independent modules. In this paper, a general control framework, named General Suppression Framework, is proposed and a distributed control system based on the framework is presented. The control system is designed to control a set of MSR robots configured into a planar manipulator arm. All modules in the manipulator arm contain their own processing and actuation units, which allow them to evaluate and react to the environment independently. The modules can perform passive communication with their immediate neighbors and can exhibit aggressive or tolerant behavior based on the environment change to generate emergent group behaviors. A simulation program is developed to demonstrate the effectiveness of the distributed system in controlling the module based planar manipulator arm.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages1774-1779
Number of pages6
Publication statusPublished - 1 Dec 2004
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 28 Sep 20042 Oct 2004

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume2

Conference

Conference2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period28/09/042/10/04

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Keywords

  • Artificial Immune Systems
  • Distributed Control
  • Modular Robots
  • Multi-agents

Cite this

Lau, H. Y. K., Ko, A., & Lau, T. L. (2004). A decentralized control framework for modular robots. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1774-1779). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 2).