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Conference Paper: A decentralized control framework for modular robots

TitleA decentralized control framework for modular robots
Authors
KeywordsArtificial Immune Systems
Distributed Control
Modular Robots
Multi-agents
Issue Date2004
PublisherIEEE.
Citation
2004 Ieee/Rsj International Conference On Intelligent Robots And Systems (Iros), 2004, v. 2, p. 1774-1779 How to Cite?
AbstractDistributed control paradigm offers robustness, scalability, and simplicity to the control and organization of module based systems. MSR (Modular Self-Reconfigurable) robot is a class of robot that best demonstrate the effectiveness of distributed systems as all modules in the robot are individuals that perform their own actuation and computation; the behavior of the complete robot is a collective behavior of all independent modules. In this paper, a general control framework, named General Suppression Framework, is proposed and a distributed control system based on the framework is presented. The control system is designed to control a set of MSR robots configured into a planar manipulator arm. All modules in the manipulator arm contain their own processing and actuation units, which allow them to evaluate and react to the environment independently. The modules can perform passive communication with their immediate neighbors and can exhibit aggressive or tolerant behavior based on the environment change to generate emergent group behaviors. A simulation program is developed to demonstrate the effectiveness of the distributed system in controlling the module based planar manipulator arm.
Persistent Identifierhttp://hdl.handle.net/10722/46554
References

 

DC FieldValueLanguage
dc.contributor.authorLau, HYKen_HK
dc.contributor.authorKo, Aen_HK
dc.contributor.authorLau, TLen_HK
dc.date.accessioned2007-10-30T06:52:48Z-
dc.date.available2007-10-30T06:52:48Z-
dc.date.issued2004en_HK
dc.identifier.citation2004 Ieee/Rsj International Conference On Intelligent Robots And Systems (Iros), 2004, v. 2, p. 1774-1779en_HK
dc.identifier.urihttp://hdl.handle.net/10722/46554-
dc.description.abstractDistributed control paradigm offers robustness, scalability, and simplicity to the control and organization of module based systems. MSR (Modular Self-Reconfigurable) robot is a class of robot that best demonstrate the effectiveness of distributed systems as all modules in the robot are individuals that perform their own actuation and computation; the behavior of the complete robot is a collective behavior of all independent modules. In this paper, a general control framework, named General Suppression Framework, is proposed and a distributed control system based on the framework is presented. The control system is designed to control a set of MSR robots configured into a planar manipulator arm. All modules in the manipulator arm contain their own processing and actuation units, which allow them to evaluate and react to the environment independently. The modules can perform passive communication with their immediate neighbors and can exhibit aggressive or tolerant behavior based on the environment change to generate emergent group behaviors. A simulation program is developed to demonstrate the effectiveness of the distributed system in controlling the module based planar manipulator arm.en_HK
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dc.format.extent2442 bytes-
dc.format.extent2167 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
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dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.relation.ispartof2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)en_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.rights©2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.en_HK
dc.subjectArtificial Immune Systemsen_HK
dc.subjectDistributed Controlen_HK
dc.subjectModular Robotsen_HK
dc.subjectMulti-agentsen_HK
dc.titleA decentralized control framework for modular robotsen_HK
dc.typeConference_Paperen_HK
dc.identifier.emailLau, HYK:hyklau@hkucc.hku.hken_HK
dc.identifier.emailKo, A:albertko@hku.hken_HK
dc.identifier.emailLau, TL:tllau@hkucc.hku.hken_HK
dc.identifier.authorityLau, HYK=rp00137en_HK
dc.identifier.authorityKo, A=rp00124en_HK
dc.identifier.authorityLau, TL=rp00138en_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/IROS.2004.1389653en_HK
dc.identifier.scopuseid_2-s2.0-14044255917en_HK
dc.identifier.hkuros102871-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-14044255917&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume2en_HK
dc.identifier.spage1774en_HK
dc.identifier.epage1779en_HK
dc.identifier.scopusauthoridLau, HYK=7201497761en_HK
dc.identifier.scopusauthoridKo, A=22334217900en_HK
dc.identifier.scopusauthoridLau, TL=7102222436en_HK

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