A Bioinspired Approach Combining L-Systems and Cellular Automata for Distributed Self-Reconfiguration of UBot Modular Robotic Systems

2016 ◽  
Author(s):  
Dongyang Bie ◽  
Yanhe Zhu ◽  
JiZhuang Fan ◽  
Xiaolu Wang ◽  
Yu Zhang ◽  
...  
Keyword(s):  
Cellular Automata ◽  
Robotic Systems ◽  
Self Organization ◽  
Lindenmayer Systems ◽  
Topological Description ◽  
Biological Principle ◽  
L Systems ◽  
Automatic Planning ◽  
And Control ◽  
Organizing Principles

Self-reconfiguration of Modular Self-Reconfigurable (MSR) robots is a fundamental primitive that can be used as part of higher-lever functionality. The biological principle of self-organizing and growth in both animals and plants is learned to solve the automatic planning of configuration and control methods. A bioinspired approach is proposed for distributed self-reconfiguration. This method aims at utilizing the self-organization and pattern emergence of the MSR robotic system, which is made of large quantity of modules to promote the system to reconfigure in the direction of adapting to environments and tasks. This mechanism is hybrid by combining Lindenmayer systems (L-systems) and Cellular Automata (CA). L-systems are introduced for defining global structure and providing topological description. Cellular Automata (CA) handle motion planning of distributed modules. This method is absolutely distributed and convergent to self-adaptive structures with desired organizing principles. The convergence of proposed method is verified through simulations and experiments on UBot robots.

scholarly journals On the Decidability of some Equivalence Problems for D0L-Systems

1973 ◽  
Vol 2 (20) ◽  
Author(s):  
Mogens Nielsen
Keyword(s):  
Open Problem ◽  
Equivalence Problem ◽  
Lindenmayer Systems ◽  
L Systems ◽  
And Control ◽  
Equivalence Problems

One of the questions of the longest open standing in the area of Lindenmayer-systems is the decidability of the equivalence problem for deterministic, informationless L-systems (DOL-Systems). This and some related equivalence-problems (equivalence with respect to the set and the sequence of generated words, Parikh-vectors and word-lengths) are investigated. Some of these related problems are shown to be recursively solvable, and the implications of these results on the main open problem mentioned above are discussed. (The paper has been accepted for publication in Information and Control).

Self-organization

2018 ◽  
Author(s):  
Stuart P. Wilson
Keyword(s):  
Large Deviation ◽  
Natural World ◽  
Self Organization ◽  
Global Order ◽  
Deterministic Systems ◽  
Working Definition ◽  
Complex Forms ◽  
Robust To Noise ◽  
Organizing Principles ◽  
Self Organizing

Self-organization describes a dynamic in a system whereby local interactions between individuals collectively yield global order, i.e. spatial patterns unobservable in their entirety to the individuals. By this working definition, self-organization is intimately related to chaos, i.e. global order in the dynamics of deterministic systems that are locally unpredictable. A useful distinction is that a small perturbation to a chaotic system causes a large deviation in its trajectory, i.e. the butterfly effect, whereas self-organizing patterns are robust to noise and perturbation. For many, self-organization is as important to the understanding of biological processes as natural selection. For some, self-organization explains where the complex forms that compete for survival in the natural world originate from. This chapter outlines some fundamental ideas from the study of simulated self-organizing systems, before suggesting how self-organizing principles could be applied through biohybrid societies to establish new theories of living systems.

scholarly journals Sparse stabilization and control of alignment models

2014 ◽  
Vol 25 (03) ◽  
pp. 521-564 ◽  
Author(s):  
Marco Caponigro ◽  
Massimo Fornasier ◽  
Benedetto Piccoli ◽  
Emmanuel Trélat
Keyword(s):  
Policy Maker ◽  
Research Direction ◽  
Fundamental Question ◽  
Self Organization ◽  
Group Consensus ◽  
Future Developments ◽  
Consensus Dynamics ◽  
Time Optimal ◽  
And Control ◽  
Mathematical Justification

Starting with the seminal papers of Reynolds (1987), Vicsek et al. (1995), Cucker–Smale (2007), there has been a lot of recent works on models of self-alignment and consensus dynamics. Self-organization has so far been the main driving concept of this research direction. However, the evidence that in practice self-organization does not necessarily occur (for instance, the achievement of unanimous consensus in government decisions) leads to the natural question of whether it is possible to externally influence the dynamics in order to promote the formation of certain desired patterns. Once this fundamental question is posed, one is also faced with the issue of defining the best way of obtaining the result, seeking for the most "economical" way to achieve a certain outcome. Our paper precisely addressed the issue of finding the sparsest control strategy in order to lead us optimally towards a given outcome, in this case the achievement of a state where the group will be able by self-organization to reach an alignment consensus. As a consequence, we provide a mathematical justification to the general principle according to which "sparse is better": in order to achieve group consensus, a policy maker not allowed to predict future developments should decide to control with stronger action the fewest possible leaders rather than trying to act on more agents with minor strength. We then establish local and global sparse controllability properties to consensus. Finally, we analyze the sparsity of solutions of the finite time optimal control problem where the minimization criterion is a combination of the distance from consensus and of the ℓ1-norm of the control. Such an optimization models the situation where the policy maker is actually allowed to observe future developments. We show that the lacunarity of sparsity is related to the codimension of certain manifolds in the space of cotangent vectors.

scholarly journals Modelling and Control of Mechatronic and Robotic Systems

2021 ◽  
Vol 11 (7) ◽  
pp. 3242
Author(s):  
Alessandro Gasparetto ◽  
Stefano Seriani ◽  
Lorenzo Scalera
Keyword(s):  
Robotic Systems ◽  
And Control

Nowadays, the modelling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia[...]

Herstellerneutrale Programmierung von Robotern*/Manufacturer-independent programming of robots - A software architecture concept for controlling and programming heterogeneous robotic systems

2017 ◽  
Vol 107 (09) ◽  
pp. 594-599
Author(s):  
A. Magaña ◽  
G. Prof. Reinhart
Keyword(s):  
Software Architecture ◽  
Industrial Robots ◽  
Robotic Systems ◽  
Key Technology ◽  
Robot Systems ◽  
And Control

Industrieroboter sind zu einer Schlüsseltechnologie in der Produktion geworden. Mit dem steigenden Einsatz von diversen Robotersystemen wächst das Bedürfnis, deren Kompatibilität zu steigern. Heutzutage gibt es keine Technologie in der Industrie, die eine standardisierte Programmierung und Steuerung von verschiedenen Robotersystemen gewährleisten kann. Dieser Fachbeitrag präsentiert ein einheitliches Konzept, welches die Anwendung von herstellerneutralen Roboterapplikationen ermöglicht.   Industrial robots have become a key technology in production. The increasing use of various robotic systems, raises the need to enhance their compatibilit.y Nowadays, there is no technology in the industry to guarantee a standardized programming and control of different robot systems. This article presents a concept enabling the use of manufacturer-independent robot applications.

A Simple Three-States Cellular Automaton for Modelling Excitable Media

1998 ◽  
Vol 12 (05) ◽  
pp. 601-607 ◽  
Author(s):  
M. Andrecut
Keyword(s):  
Wave Propagation ◽  
Partial Differential Equations ◽  
Cellular Automata ◽  
Differential Equations ◽  
Cellular Automaton ◽  
Cellular Automaton Model ◽  
Excitable Media ◽  
Self Organization ◽  
Partial Differential ◽  
Bz Reaction

Wave propagation in excitable media provides an important example of spatiotemporal self-organization. The Belousov–Zhabotinsky (BZ) reaction and the impulse propagation along nerve axons are two well-known examples of this phenomenon. Excitable media have been modelled by continuous partial differential equations and by discrete cellular automata. Here we describe a simple three-states cellular automaton model based on the properties of excitation and recovery that are essential to excitable media. Our model is able to reproduce the dynamics of patterns observed in excitable media.

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