Self-repairing Swarm Robotic Systems

点击翻译按钮获取中文摘要

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.