Communication Architecture for Cellular Robotic System

Abstract

This paper describes one approach for the communication architecture of a cellular robotic system (CEBOT), which consists of a large number of autonomous robotic units or cells. The strategy is based on the selection of a cell, where the master cell is assumed as a coordinator in the system. The selection is made using as an evaluation function, which is proposed in this paper and is based on the probability of the information flow in the network. We describe a mastering method which implies the determination of a master cell, and show the mastering method using the sensitivity of the network energy, called local energy sensitive estimation. The sensitivity is defined as network energy which takes only the influence of a cell adjacent to the master cell into consideration. The search for a master cell can be performed effectively. We show the simulation results of mastering.