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Abstract
This paper presents the concept of Cellular Robotic System (CEBOT), which is one of the self-organizing robotic systems, and describes some basic strategies for its realization. CEBOT is the distributed intelligent system. This system is a Dynamically Reconfigurable Robotic System (DRRS) consisting of a large number of autonomous robotic units called cells. At first, for the determination of CEBOT structure, we describe the reconfiguration methodology for mobile/robotic manipulator systems, which is based on geometric calculation. Because of the important issue that CEBOT can automatically connect and communicate with each other, then we show both the experimental results in automatic connection and separation by CEBOT MarkII designed as a protoype of CEBOT, and the communication experiments in CEBOT MarkII. Finally, we propose the optimal knowledge allocation method based on the information flow of the communication among cells, since the optimal knowledge allocation is considered as one of the most important issues for the distributed intelligent system. In this paper, we describe the ability of CEBOT and show some experimental results.
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