Self-organizing Cellular Robotic System; Communication Architecture with two master cells in Cellular Robotic Network

In this paper, we propose a communication strategy of "Two tops structure" of "Cellular Robotic System (CEBOT) communication network." The "Two tops structure" means that the network has two master cells. A network is separated into two subnetworks, each of which has one master cell. The efficiency of information flow will be improved and the load for a master cell in each subnetwork will be reduced by appropriately selecting the master cell. The two master cells of the system is determined by minimizing the "network energy," which is defined based on the information flow in the network[#12]. "Local Energy Sensitive Estimation Method" is used for the selection of two master cells. The simulation results illustrate the "mastering" of "two tops structure". The influence of both the communication rate between master cells and the distribution of activity probabilities of cells are also discussed.