動的再構成可能ロボットシステムに関する研究 : 第29報, 形態再構成に起因する群の振る舞いの解析

抄録

Cellular Robotic System (CEBOT) is one of the Distributed Autonomous Robotic System (DARS) which consists of heterogeneous robotic units called cells and availability of structure reconfiguration. A robot of CEBOT can change their function through connection or disconnection with another cell. Functional reconfiguration increases the adaptability against the change of environment. But it has specific problem concerned with the cost for changing its cooperative structure. This paper deals with the behavior and the property of system composed of functionally reconfigurable robots. We focus on a system property concerned with collective behavior, especially the trade-off between adaptability and efficiency through computer simulation for a model of load transportation task.