A self-reconfigurable communication network for modular robots

We present a novel hybrid communication system for modular robots, based on inter-module buses that can connect on-demand to form arbitrary network topologies. In addition to describing the implementation of this hybrid communication system, we analyse transfer rates and reliability, validating the results using a Spice simulation and a proof-of-concept experiment performed on a hardware prototype. Thus, we find the system is fast, since it has a potential to provide a maximum transfer rate of 9.9Mbps divided by the maximum bus length measured in meters, with buses as large as 256 modules. The system is also found to be small in size, power saving and reliable. These features, in combination with its flexibility, make hybrid communication suitable for modular robots.

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