Self-repairing Swarm Robotic Systems

自重构模块化机器人是一种机器人模块，它可以相互物理连接，并通过形态发生过程动态改变其结构配置。为了使自重构模块化机器人系统在搜索和救援等任务中有效，它们需要能够长时间自主生存，同时表现出高水平的可靠性和容错能力。该研究项目将考虑使用形态发生技术和机制来研究可靠性的新方法。这些技术将用于帮助开发检测故障和从故障中恢复的新策略。这些策略将首先在模拟中进行演示，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能够比不采用这种技术和方法的系统更快地恢复并存活更长时间。设计了一种新的平台扩展和算法，用于控制配备的机器人的集体运动。希望类似的运动策略可以用来展示隐含形式的自组装和自重构。该项目的目的是表明，通过研究和开发新的和现有的容错形态发生方法，可以提高自重构模块化机器人系统的长期自主性。

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.