Locomotion control of distributed self-reconfigurable robot based on cellular automata

Based the character of Modular Self-Reconfigurable (MSR) robots, a homogeneous lattice robot called M-Cubes which owe to the property and structure of agent was build, feature vector matrix of modules describe completely the connection relation among modules. Motion mode and action of modules were analyzed. Emergent control is the most suited system control of MSR by comparing control way. Due to MSR robot is similar with cellular automata, emergent control model based CA was proposed. A two layers NN which has 7 inputs and single output simulate the nonlinear rules function, the feature vector of module is input of CA's rules, action of module is output of CA's rules. The simulation results show that emergent control based CA is great significance to enhance robustness and scale extensibility of MSR.