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Natural Computing

A membrane computing framework for self-reconfigurable robots

  • 06-08-2018
Published in:
Authors
Dongyang Bie
Miguel A. Gutiérrez-Naranjo
Jie Zhao
Yanhe Zhu
Published in
Natural Computing | Issue 3/2019

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Abstract

Self-reconfigurable robots are built by modules which can move in relationship to each other, which allows the robot to change its physical form. Finding a sequence of module moves that reconfigures the robot from the initial configuration to the goal configuration is a hard task and many control algorithms have been proposed. In this paper, we present a novel method which combines a cluster-flow locomotion based on cellular automata together with a decentralized local representation of the spatial geometry based on membrane computing ideas. This new approach has been tested with computer simulations and real-world experiments performed with modular self-reconfigurable robots and represents a new point of view with respect other control methods found in the literature.

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previous article Enhancing particle swarm optimization with binary quantum wave modulation and joint guiding forces
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Title
A membrane computing framework for self-reconfigurable robots
Authors
Dongyang Bie
Miguel A. Gutiérrez-Naranjo
Jie Zhao
Yanhe Zhu
Publication date
06-08-2018
Publisher
Springer Netherlands
Published in
Natural Computing / Issue 3/2019
Print ISSN: 1567-7818
Electronic ISSN: 1572-9796
DOI
https://doi.org/10.1007/s11047-018-9702-1
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