Abstract
We present the design of a new structural extension for the e-puck mobile robot. The extension may be used to transform what is a swarm robotics platform into a self-reconfigurable modular robotic system. As a proof of concept, we present an algorithm for controlling the collective locomotion of a group of e-pucks that are equipped with the extension. Our approach proves itself to be an effective method of coordinating the movement of a group of physically connected e-pucks. Furthermore, the system shows robustness in its ability to self-reconfigure and self-assemble following a disruption which alters the group’s structure.
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Murray, L., Timmis, J., Tyrrell, A. (2012). Self-reconfigurable Modular e-pucks. In: Dorigo, M., et al. Swarm Intelligence. ANTS 2012. Lecture Notes in Computer Science, vol 7461. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32650-9_12
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DOI: https://doi.org/10.1007/978-3-642-32650-9_12
Publisher Name: Springer, Berlin, Heidelberg
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