Cooperative multiagent robotic systems

Fukuda was among the rst to consider teams of robots working together [9.]. His cellular robot system (CEBOT) is a collection of heterogeneous robotic agents which are capable of assembling and disassembling themselves. Imagine, for example, a self-assembling ship in bottle. This ability to allow complex structures to be constructed on-site and the additional capability of recon guring the combined units is of potentially great value for a wide range of applications in space-constrained environments.

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