A principle of distributed decision making of Cellular Robotic System (CEBOT)

The Cellular Robotic System (CEBOT) is studied with the aim of realizing a self-organizing robotic system. A principle of the distributed decision making method for a multi-agents robotic system is reported. Some simple control laws which each unit should obey are proposed. The conditions of parameters of the control laws to keep the total system stable are also discussed. To demonstrate the efficiency of the proposed method, a simple task (carry the object) is carried out by some mobile cells which obey the methods from simulation experiments. The optimal number of cells to execute the task is evaluated and discussed