Title :
Study of super-mechano-colony (concept and basic experimental setup)
Author :
Hirose, Shigeo ; Damoto, Riichiro ; Kawakami, Atsushi
Author_Institution :
Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Japan
Abstract :
We focus on a heterogeneous robotic system of decentralized autonomous agents with a leader, which we call “super-mechano-colony (SMC)”. It has characteristics of both hierarchical and distributed control systems. This paper explains the basic concept and a physical test bed of SMC, and discusses an example, specifically planetary rovers, for SMC
Keywords :
cooperative systems; decentralised control; distributed control; hierarchical systems; mobile robots; planetary rovers; autonomous agents; decentralized system; distributed control systems; heterogeneous robotic system; hierarchical control systems; mobile robots; planetary rovers; super-mechano-colony; Autonomous agents; Control systems; Controllability; Distributed control; Fault tolerance; Fault tolerant systems; Mobile robots; Payloads; Robot kinematics; Sliding mode control;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.895211
