動的状況変化に対応する頑健性を持った群モジュラシステムへのアプローチ

―クラッチ機構によるアクティブ・パッシブ搬送モード切り替えの実現―

抄録

Self-assembly is an important factor for swarms to provide robustness to the system. For swarm robot systems, robots have been considered to realize self-assembly like ants and to adapt to their environment. These robots, however, have been modeled based on living organisms, and there are few studies that have further developed self-assembly in artificial swarm robot systems. This paper proposes a connected swarm system for artificial self-assembly. Firstly, we develop the system in which the robot can switch its driving mode from active to passive, and vice versa.