Abstract
Modular Self-Reconfigurable (MSR) robots are made up of identical mechatronic modules that can be assembled into a variety of structures to facilitate different kind of works. The controlling of MSR robots is similar to the control of a distributed cooperating system, in which all modules must be coordinated correctly to complete a common task.
In this paper we discuss the implementation of the distributed blackboard architecture for locomotion control of a MSR robot. We have used computer to construct a model of the MSR robot and used it to demonstrate the capability of a simple rule-based blackboard control system in coordinating a group of modules to perform a common task using purely local control rules and through communication between neighboring modules.
In this paper we discuss the implementation of the distributed blackboard architecture for locomotion control of a MSR robot. We have used computer to construct a model of the MSR robot and used it to demonstrate the capability of a simple rule-based blackboard control system in coordinating a group of modules to perform a common task using purely local control rules and through communication between neighboring modules.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 11th Mediterranean Conference on Control and Automation |
| Number of pages | 6 |
| Publication status | Published - Jun 2003 |
| Externally published | Yes |
Keywords
- Self-Reconfigurable Robots
- Modular Robots
- Blackboard Systems
- Distributed Autonomous Systems
- Locomotion Control