Ababsa, Tarek, Djedi, Noureddine, Duthen, Yves and Cussat-Blanc, Sylvain (2014) Splittable metamorphic carrier robots. In: 14th International Conference on the Synthesis and Simulation of Living Systems (ALIFE 14), 30 July 2014 - 2 August 2014, New York.

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Metamorphic modular robots are versatile systems composed of a set of independent modules. These modules are able to deliberately change their overall topology in order to adapt to new circumstances, perform new tasks, or recover from damage. The modules considered in this paper are cubic shapes, and we assume that each of them has a separate computational resources and it is equipped with a specialized sensors to perceive the environment. In this paper, we demonstrate the ability of these robots to evolve the topology of the whole structure in order to achieve, surround and transport target objects dispersed in the environment. While performing its task, the robot may be splitted into several parts in order to cope with environmental variations. Our work integrates a simplified model of biological hormone system to generate inputs for a finite-state machine (FSM) that controls the evolution process.

Item Type: Conference or Workshop Item (Paper)
Language: English
Date: 2014
Additional Information: Creative Commons NC-ND license. The definitive version is available at http://mitpress.mit.edu/sites/default/files/titles/content/alife14/978-0-262-32621-6-ch129.pdf
Uncontrolled Keywords: Metamorphic modular robots
Divisions: Institut de Recherche en Informatique de Toulouse
Site: UT1
Date Deposited: 24 Jan 2019 14:26
Last Modified: 02 Apr 2021 15:59
URI: https://publications.ut-capitole.fr/id/eprint/29803
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