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Splittable metamorphic carrier robots

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

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Official URL: http://dx.doi.org/10.7551/978-0-262-32621-6-ch129

Abstract

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)
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
HAL Id:hal-01178615
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - INPT (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UPS (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
Université de Toulouse > Université Toulouse 1 Capitole - UT1 (FRANCE)
Other partners > Université Mohamed Khider de Biskra (ALGERIA)
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Deposited By: IRIT IRIT
Deposited On:22 Jun 2015 14:32

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