Collective construction of dynamic structure initiated by semi-active blocks
Collective construction of dynamic structure initiated by semi-active blocks
复制标题
半主动块体发起的动力结构集体构建
DOI：
10.1109/iros.2015.7353408
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Yohei Doi
中科院分区：
文献类型：
--
作者：
K. Sugawara;Yohei Doi
本文提出了一种集体建设的方法，通过简单的机器人和智能块之间的相互作用，有一个规则集和相邻块的通信功能。在我们的方法中，该结构是通过增长块链形成的。增长方向由规则集和块之间传递的计数器值确定。机器人根据简单的算法和来自块的本地信号装载或卸载块。由于每个机器人行为的简单性，结构是局部不稳定的：块可以随机地连接或从结构分离，即使它们已经形成了结构的一部分。在本文中，我们首先解释我们的建议的机制。接下来，我们展示了通过计算机仿真和真实的机器人和块的小规模实验获得的一些基本特性。我们引入小的修改，以提高系统的适应性，主要集中在对外部应力的墙的增强功能。
This paper proposes a collective construction method through interaction between simple robots and intelligent blocks that have a rule set and a communication function with neighboring blocks. In our method, the structure is formed by growing chain of blocks. The growth direction is determined by the rule set and a counter value passed between the blocks. The robots load or unload the block based on a simple algorithm and a local signal from the blocks. Because of the simplicity of each robot's behavior, the structure is locally unstable: the blocks can be attached or detached randomly from the structure even if they have already formed a part of the structure. In this paper, we first explain the mechanism of our proposal. Next we show some fundamental characteristics obtained by computer simulation and small scale experiment by real robot and blocks. We introduce small modification to enhance the adaptability of the system mainly focusing on a reinforcement function of the wall against the external stress.