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Descripción
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| This article presents a new control architecture designed for heterogenous modular multi-configurable chained micro-robots. This architecture tries to fill the gap that exists in heterogeneous modular robots, where no much research has been done compared to homogeneous modular robots. The architecture proposes a three layer structure with a behavior-based low level embedded layer, a half deliberative half behavior-based high layer for the central control, and a heterogenous middle layer acting as a bridge between both of them. This middle layer is a very important part because it makes possible that the central control treats all modules in the same way, facilitating its control. A communication protocol and a Module Description Language (MDL) has been also developed for the control architecture to make communication and information flow possible from the heterogeneous modules and the central control. Due to the heterogeneous behavior of the architecture, the system can automatically reconfigure its actions to adapt to unpredicted events (like actuator failure). Several behaviors (at low and high levels) are also presented. | |
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Internacional
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Si |
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JCR del ISI
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Si |
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Título de la revista
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Robotics And Autonomous Systems |
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ISSN
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0921-8890 |
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Factor de impacto JCR
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1,313 |
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Información de impacto
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Datos JCR del año 2010 |
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Volumen
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60 |
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DOI
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10.1016/j.robot.2012.09.019 |
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Número de revista
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12 |
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Desde la página
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1607 |
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Hasta la página
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1624 |
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Mes
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DICIEMBRE |
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Ranking
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