Analyzing an Influence of Collecting Broken Robots in Large-scale Structure Assembly though a Cooperation among Multiple Robots

Abstract

This paper focuses on the distributed control of the multiple robots which may be broken and investigates how the robots complete their task by collecting broken robots through the simulation of the large-scale structure assembly. For this purpose, we conduct multiagent simulation for collecting broken robots under the different failure rate of robots. Through the intensive simulations, we have revealed that a collection of broken robots before completing their own task (i.e., deploying their panel) is more effective than after complete their own task.