A distributed blackboard-based control system for modular self-reconfigurable robots

T. L. LAU, H. Y. K. LAU, Wing Yin Albert KO

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


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.
Original languageEnglish
Title of host publicationProceedings of the 11th Mediterranean Conference on Control and Automation
Number of pages6
Publication statusPublished - Jun 2003
Externally publishedYes


  • Self-Reconfigurable Robots
  • Modular Robots
  • Blackboard Systems
  • Distributed Autonomous Systems
  • Locomotion Control


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