Study of Group Robots Adaptively Forming a Mechanical Structure. Information Processing Functions of the Cellular Robot Required for Transporting a Load to an Opposite Side.

摘要

This study deals with autonomous distributed robots adaptively forming a structure for a loading condition. The simulation model consists of identical components (cellular robots). Each cellular robot has some functions about sensing, communication and mobility. In this paper, we discuss the following subject. There is a gap on the ground. A moving load lies at one side, but can not reach the opposite side. Mission of the cellular robots is to help the moving load to pass over the gap forming a structure like a bridge by themselves. After finishing the mission, they must return to the original place. We examined the required information processing of the cellular robots for execution of the mission and proposed the algorithms based on local rules. Using the algorithms, we simulated group behavior of the cellular robots on a computer and showed the validity.