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Robots reconfigurables : Étude de la convergence dans le problème du déplacement vers un but

Abstract : We targets collective displacement through modular self-reconfigurablility. The objective is to find simple rules to coordinate autonomously the modular robot model. By the implementation of this same rule in all the modules in the robot and emergent displacement should appear. The emergent displacement is used to reach the goal. The physical constraints are at the base of some problems which emergent in algorithms used for most multi-agent displacements: deadlock and oscillation. In facts methods for collective displacement are not adapted for collective displacement by self reconfiguration. We will show these two principal problems can appear in the implementation of such an approach. We will show in particular that simulations which "go to goal" hide in fact of the heavy defects for self-reconfigurable robots. We will be able to prove that this type of approach is sensitive to the scheduling of the decision-making in the modules. In particular we will show that the generation of deadlock created by a blocking patterns of atoms configuration, stop the progression of the self-reconfigurable robot. We will explain why physical factors and scheduling order affects the displacement of the groupe. We will propose here a method that guarantee the convergence of the emergent solution.
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Contributor : Dominique Duhaut <>
Submitted on : Monday, September 13, 2010 - 5:20:30 PM
Last modification on : Monday, September 13, 2010 - 5:53:19 PM
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  • HAL Id : tel-00517181, version 1



Elian Carrillo. Robots reconfigurables : Étude de la convergence dans le problème du déplacement vers un but. Autre [cs.OH]. Université de Bretagne Sud, 2007. Français. ⟨tel-00517181⟩



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