A distributed and parallel control mechanism for self-reconfiguration of modular robots using L-systems and cellular automata

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• 作者：Yanhe Zhu ^{yhzhu@hit.edu.cn}Author Vitae ; Dongyang Bie ^{dongyangbie@gmail.com}Author Vitae ; Xiaolu Wang ^{wxlu0517@gmail.com}Author Vitae ; Yu Zhang ^{zy_hitsz@163.com}Author Vitae ; Hongzhe Jin ; ^{hongzhejin@hit.edu.cn}Author Vitae ; Jie Zhao ^{jiezhao@hit.edu.cn}Author Vitae
• 关键词：Modular robots ; Distributed algorithm ; Parallel algorithm ; Self-reconfiguration ; Self-repair ; L-systems ; Cellular automata
• 刊名：Journal of Parallel and Distributed Computing
• 出版年：2017
• 出版时间：April 2017
• 年：2017
• 卷：102
• 期：Complete
• 页码：80-90
• 全文大小：3944 K
• 卷排序：102

文摘

We propose a distributed and parallel mechanism for self-reconfiguration of modular robots. L-systems are introduced to the distributed self-reconfiguration for a parallel system. The Cellular Automata are simplified with only two rules. This approach is convergent to target structure, robust to failure of modules and scalable to module numbers.