Self-repairing Swarm Robotic Systems

自重构模块化机器人是一种机器人模块，它们可以相互连接，并通过一个称为形态发生的过程动态地改变它们的结构配置。对于自重构模块化机器人系统是有效的任务，如搜索和救援，他们将需要能够自主生存很长一段时间，同时表现出高水平的可靠性和容错性。本研究项目将考虑新的方法来研究可靠性使用形态发生技术和机制。这些技术将被用来帮助开发新的策略，用于检测故障和从故障中恢复。这些策略最初将在模拟中演示，然后转移到真实的机器人硬件上。希望采用这种方法的系统将能够明显更快地恢复和生存时间比不采用这种技术和methods.The设计的一个新的平台扩展和算法，用于控制机器人的集体运动配备。希望类似的运动策略可以被用来展示自组装和自重构的隐式形式，该项目的目的是通过研究和开发新的和现有的容错形态发生方法来证明自重构模块化机器人系统的长期自主性可以得到改善。

Self-reconfigurable modular robots are robotic modules which can physically connect with one another and dynamically alter their structural configuration through a process known as morphogenesis. For self-reconfigurable modular robotic systems to be effective in tasks like search and rescue they will need to be capable of surviving autonomously for long periods of time, whilst demonstrating high levels of reliability and fault tolerance.This research project will consider novel approaches to the study of reliability using morphogenesis techniques and mechanisms. The techniques will be used to help develop new strategies for detecting faults and recovering from failures. The strategies will be demonstrated in simulation initially and then moved onto real robotic hardware. It is hoped that systems employing such methods will be able to recover significantly quicker and survive longer than systems which do not employ such techniques and methods.The design of a new platform extension and algorithms for controlling the collective locomotion of robots equipped with be developed. It is hoped that similar locomotion strategies can be used to demonstrate implicit forms of self-assembly and self-reconfiguration.The aim of the project will be to show that long-term autonomy of self-reconfigurable modular robotic systems can be improved through the study and development of new and existing approaches to fault tolerant morphogenesis.