Improving Recovery Capability of Multiple Robots in Different Scale Structure Assembly

Abstract

This paper focuses on the distributed control of multiple robots that may be broken and investigates recovery capability, which means how robots can complete assembly, when some are broken, through the assembly of a different-scale solar-powered satellite. We thus conduct simulation at different failure rates of robots that use our proposed deadlock avoidance. Through intensive simulation, we show that (1) our proposed method with no information sharing keeps high recovery capability and (2) this method is robust against differences in structure scale.