Acollective moving algorithm inmodular robotics: contribution ofcommunication capacities

Thegoalofself-reconfigurable robotics isto replace acomplex robot byaswarmofmoresimple robots calledmoduleswhichcan changetheway theyare connected, creating thusarobot whichcanadapt hisshape to theenvironment inwhichitisevolving. Thegoalofthis approach istoobtain alarge robustness against breakdowns. Inordertofurther increase thisrobustness we canuse autonomous modules whichcanmovebytheir own and whichcanmake/break connections withothermodules as desired. We present abehaviour modelforautonomous modules topermit theswarmtogetoversimple difficulties: climbing on straight walls, getting overditches andmoving down straight walls. Ourmodelisanidentical finite state machine implanted inallmodules whichisdedicated tothemovement ofautonomousmodulesswarm.We alsopresent three simulations inwhichwe studythreedifferent levels of communication, thusestimating influence ofthese capacities onthemodules swarmspeed togetoverthreeconsecutive difficulties. IndexTerms- reactive, self-reconfigurable, collective moving, multiagent.