A cognitive architecture for modular and self-reconfigurable robots

LEVI, P, MEISTER, E, VAN ROSSUM, AC, KRAJNIK, T, VONASEK, V, STEPAN, P, LIU, W and CAPARRELLI, Fabio (2014). A cognitive architecture for modular and self-reconfigurable robots. In: Systems Conference (SysCon), 2014 8th Annual IEEE. IEEE, p. 465.

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Official URL: http://ieeexplore.ieee.org/document/6819298/
Link to published version:: https://doi.org/10.1109/SysCon.2014.6819298


The field of reconfigurable swarms of modular robots has achieved a current status of performance that allows applications in diverse fields that are characterized by human support (e.g. exploratory and rescue tasks) or even in human-less environments. The main goal of the EC project REPLICATOR [1] is the development and deployment of a heterogeneous swarm of modular robots that are able to switch autonomously from a swarm of robots, into different organism forms, to reconfigure these forms, and finally to revert to the original swarm mode [2]. To achieve these goals three different types of robot modules have been developed and an extensive suite of embodied distributed cognition methods implemented [3]. Hereby the methodological key aspects address principles of self-organization. In order to tackle our ambitious approach a Grand Challenge has been proposed of autonomous operation of 100 robots for 100 days (100 days, 100 robots). Moreover, a framework coined the SOS-cycle (SOS: Swarm-Organism-Swarm) is developed. It controls the transitions between internal phases that enable the whole system to alternate between different modes mentioned above. This paper describes the vision of the Grand Challenge and the implementation and the results of the different phases of the SOS-cycle.

Item Type: Book Section
Research Institute, Centre or Group - Does NOT include content added after October 2018: Materials and Engineering Research Institute > Engineering Research
Identification Number: https://doi.org/10.1109/SysCon.2014.6819298
Page Range: p. 465
Depositing User: Fabio Caparrelli
Date Deposited: 07 Nov 2016 13:47
Last Modified: 18 Mar 2021 22:30
URI: https://shura.shu.ac.uk/id/eprint/13535

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