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

抄録

This study deals with autonomous distributed robots that are able to adaptively construct a structure in response to a loading condition. The simulation consists of identical components (cellular robots). Each cellular robot has functions for sensing, communication and motion. In this paper, we discuss the following situation. There is a gap on the ground. A moving load lies at one side but cannot reach the opposite side. The mission of the cellular robots is to help the moving load pass over the gap by forming a bridge-like mechanical structure. After finishing the mission, they must return to their original place. We examined the information processing required of the cellular robots to execute the mission and proposed algorithms based on local rules. Using these algorithms, we simulated the group behavior of the cellular robots on a computer and demonstrated validity.