Distributed structural organization of cellular robots using random walks

A primitive approach to the self-organization of the structural configuration of the CEBOT is described. CEBOT consists of a large number of autonomous robotic units called cells. Assuming that there are sufficient cells in the environment to configure the cellular robots, the cells, which have information about a structure, use random walk to search for other cells to configure the structure. Since each cell organizes a cellular module/robot distributively, these cells must cooperate and negotiate to achieve the configuration of the goal structure. The behavior of the cells is examined on the basis of the selfish criterion. The entropy of structure configuration is proposed as an evaluation criterion in the global environment. The simulation represents the influence of the selfish behavior and the sensing range for the configuration of the cellular robots