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arXiv · 1109.2288

Heterogeneity for Increasing Performance and Reliability of Self-Reconfigurable Multi-Robot Organisms

S. Kernbach·F. Schlachter·R. Humza·J. Liedke·S. Popesku·S. Russo·T. Ranzani·L. Manfredi·C. Stefanini·R. Matthias·Ch. Schwarzer·B. Girault·P. Alschbach·E. Meister·O. Scholz
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Abstract

Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems. This work addresses the heterogeneity concept, its rationales, design choices and performance evaluation. We introduce challenges for self-reconfigurable systems, show advances of mechatronic and software design of heterogeneous platforms and discuss experiments, which intend to demonstrate usability and performance of this system.

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S. Kernbach, F. Schlachter, R. Humza, J. Liedke, S. Popesku, S. Russo, T. Ranzani, L. Manfredi, C. Stefanini, R. Matthias, Ch. Schwarzer, B. Girault, P. Alschbach, E. Meister, O. Scholz. 2011-09-11. Heterogeneity for Increasing Performance and Reliability of Self-Reconfigurable Multi-Robot Organisms. https://arxiv.org/abs/1109.2288

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