Fault-Tolerant and System-Wide Communication for Metamorphic Robots

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This publication doesn't include Faculty of Medicine. It includes Faculty of Informatics. Official publication website can be found on muni.cz.


Year of publication 2023
Type Article in Proceedings
Conference 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)
MU Faculty or unit

Faculty of Informatics

Doi http://dx.doi.org/10.1109/CASE56687.2023.10260364
Keywords Building blockes; Complex configuration; Fault system; Fault-tolerant; Metamorphic robots; Reconfigurable; Robotic community; Robotic systems; Self-assembling robots; Uniform scale
Description One of the future directions the robotic community deals with is the vision of reconfigurable and self-assembling robots. Such robots can assemble themselves into more complex configurations to take the shape that suits their mission the most. An exciting concept is a metamorphic robotic system in which all the modules serving as building blocks are uniform and small-scale. In such a system, the modules must be able to connect and disconnect from other modules dynamically using a connector that provides the modules with data and power connection on top of the physical binding. The limited physical size and computation resources prevent the usage of the standard existing network and power interfaces. While some solutions to connectors of metamorphic robots have been introduced at the hardware level, the software solutions are still quite incomplete. In this paper, we address a piece of the software part. We present an efficient and system-wide solution to inter-module communication. Moreover, we demonstrate and evaluate our solution on an existing metamorphic robotic platform.
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