The internet of modular robotic things: Issues, limitations, challenges, & solutions

Abstract

The world is becoming more digitised with the rise of modular robotic systems. Therefore, with the increasing demands and needs for robotics, the modular robotic domain was introduced as an essential key part of Internet-of-Things (IoT). Modular self-configurable robotic systems (E.g. swarms) are classed as “smart” autonomous machines with kinematic properties, defined by a set of interconnected links, modules and algorithms to achieve the required three-dimensional (3D) or two-dimensional (2D) complex shape or hierarchical structure. Due to its “intelligent” concept, it beame suitable for its deployment in the Internet of Robotic Things (IoRT) domain. Thus, becoming a key part of it and establishing itself as the newly revolutionised Internet of Modular Robotic Things (IoMRT). This paper presents a survey that highlights and discusses this novel IoMRT concept that focuses on self-reconfigurable modular robots and robotic systems by discussing their criteria, characteristics, architecture, and design. The security, safety, and privacy aspects are also presented and discussed, making it among the first papers to focus on this topic and its future. Moreover, the main drawbacks and challenges are also highlighted, while the already available solutions are also presented and analysed. A brief analysis regarding each solution is also presented with an insight into their future work. Additionally, more work was presented regarding the security aspect(s) of modular robotic systems to protect them from possible cyber or/and physical attacks. Thus, covering all possible aspects of the IoMRT.