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@inproceedings{2317898,
author = {Mrázek, Jan and Chlup, Vladimír and Barnat, Jiří},
address = {Auckland, New Zealand},
booktitle = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
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},
howpublished = {elektronická verze "online"},
language = {eng},
location = {Auckland, New Zealand},
isbn = {979-8-3503-2069-5},
pages = {1-8},
publisher = {IEEE},
title = {Fault-Tolerant and System-Wide Communication for Metamorphic Robots},
year = {2023}
}
TY - JOUR
ID - 2317898
AU - Mrázek, Jan - Chlup, Vladimír - Barnat, Jiří
PY - 2023
TI - Fault-Tolerant and System-Wide Communication for Metamorphic Robots
PB - IEEE
CY - Auckland, New Zealand
SN - 9798350320695
KW - Building blockes
KW - Complex configuration
KW - Fault system
KW - Fault-tolerant
KW - Metamorphic robots
KW - Reconfigurable
KW - Robotic community
KW - Robotic systems
KW - Self-assembling robots
KW - Uniform scale
N2 - 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.
ER -
MRÁZEK, Jan, Vladimír CHLUP and Jiří BARNAT. Fault-Tolerant and System-Wide Communication for Metamorphic Robots. Online. In \textit{2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)}. Auckland, New Zealand: IEEE, 2023, p.~1-8. ISBN~979-8-3503-2069-5. Available from: https://dx.doi.org/10.1109/CASE56687.2023.10260364.
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