Self-Sufficiency of an Autonomous Reconfigurable Modular Robotic Organism, 2015
Adaptation, Learning, and Optimization Series, Vol. 17

This book describes how the principle of self-sufficiency can be applied to a reconfigurable modular robotic organism. It shows the design considerations for a novel REPLICATOR robotic platform, both hardware and software, featuring the behavioral characteristics of social insect colonies. Following a comprehensive overview of some of the bio-inspired techniques already available, and of the state-of-the-art in re-configurable modular robotic systems, the book presents a novel power management system with fault-tolerant energy sharing, as well as its implementation in the REPLICATOR robotic modules. In addition, the book discusses, for the first time, the concept of ?artificial energy homeostasis? in the context of a modular robotic organism, and shows its verification on a custom-designed simulation framework in different dynamic power distribution and fault tolerance scenarios. This book offers an ideal reference guide for both hardware engineers and software developers involved in the design and implementation of autonomous robotic systems.

First comprehensive study on energy management in self-reconfigurable modular robotic organisms

Addresses for the first time the concept of self-sufficiency and artificial energy homeostasis in the context of a modular robotic organism

Describes in details the development of a dynamic power management system with fault tolerant energy sharing

Includes supplementary material: sn.pub/extras