Internal Constraints based Cooperativity and Diversity in Multiple Robots.

Abstract

In this paper, internal constraints based control is proposed as an autonomous control method to realize both cooperativity and diversity in multiple robots. We used a robot model composed of two subsystems. One is a physical system which selforganizes a dynamical coherence in mutual interaction between the robots and their environment. The other is an interpretational system, and it generates internal constraints from the coherent state and operates the physical system based on the constraints. The proposed method is realized through mutual constraint process between these two subsystems. To check the effectiveness of this method, a task that multiple robots carry one load was examined as an example of cooperative behavior.