Paper Info
Title
A behaviour-based control architecture for heterogeneous modular, multi-configurable, chained micro-robots
Abstract
This article presents a new control architecture designed for heterogeneous modular, multi-configurable, chained micro-robots. This architecture attempts to fill the gap that exists in heterogeneous modular robotics research, in which little work has been conducted compared to that in homogeneous modular robotics studies. The architecture proposes a three-layer structure with a behaviour-based, low-level embedded layer, a half-deliberative half-behaviour-based high layer for the central control, and a heterogeneous middle layer acting as a bridge between these two layers. This middle layer is very important because it allows the central control to treat all modules in the same manner, facilitating the control of the robot. A communication protocol and a module description language were also developed for the control architecture to facilitate communication and information flow between the heterogeneous modules and the central control. Owing to the heterogeneous behaviour of the architecture, the system can automatically reconfigure its actions to adapt to unpredicted events (such as actuator failure). Several behaviours (at low and high levels) are also presented here.
Year
DOI
Venue
2012
10.1016/j.robot.2012.09.019
Robotics and Autonomous Systems
Keywords
Field
DocType
Modular,Multi-configurable,Heterogeneous,Behaviour-based,Control,Architecture
Information flow (information theory),Architecture,Applications architecture,Simulation,Computer science,Self-reconfiguring modular robot,Reference architecture,Modular design,Robot,Communications protocol
Journal
Volume
Issue
ISSN
60
12
0921-8890
Citations 
PageRank 
References 
5
0.47
8
Authors
4
Name
Order
Citations
PageRank
Alberto Brunete1457.70
Miguel Hernando28910.11
Ernesto Gambao34113.51
J. E. Torres450.47