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Distributed Control Diffusion: Towards a Flexible Programming Paradigm for Modular Robots

Ulrik P. Schultz
2007 The Proceedings of First International Conference on Robot Communication and Coordination  
We have implemented a prototype of a distributed control diffusion system for the ATRON modular, self-reconfigurable robot.  ...  We have implemented a prototype of distributed control diffusion for the ATRON modular, self-reconfigurable robot [10], [11] .  ...  An additional special thanks goes to David Christensen for proofreading and last-minute helpful insights into behavior-based control.  ... 
doi:10.4108/icst.robocomm2007.2197 dblp:conf/robocomm/Schultz07 fatcat:se4qnbrchfafhmsl23wykex47y

Towards Python-based Domain-specific Languages for Self-reconfigurable Modular Robotics Research [article]

Mikael Moghadam and David Johan Christensen and David Brandt and Ulrik Pagh Schultz
2013 arXiv   pre-print
This paper explores the role of operating system and high-level languages in the development of software and domain-specific languages (DSLs) for self-reconfigurable robotics.  ...  We review some of the current trends in self-reconfigurable robotics and describe the development of a software system for ATRON II which utilizes Linux and Python to significantly improve software abstraction  ...  Acknowledgements: We would like to thank the DSLRob reviewers for their insightful and constructive comments which were very helpful in improving our paper.  ... 
arXiv:1302.5521v1 fatcat:wlaelo5bxbcmle3f6j5do4ylqu

Self-assembly of modular robots from finite number of modules using graph grammars

Vijeth Rai, Anne van Rossum, Nikolaus Correll
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We propose a suite of algorithms that (1) generate a reversible graph grammar, i.e., generates rules for a desired structure that allow the structure not only to assemble, but also to disassemble, and  ...  We show that by omitting a reversal rule for the last attached module, self-assembly eventually completes, and that communication can drastically speed up this process.  ...  Acknowledgements I would like to thank Anne van Rossum for his constant support and assistance. I would also like to thank my advisor Prof. Nikolaus Correll for his guidance and patience.  ... 
doi:10.1109/iros.2011.6095038 dblp:conf/iros/RaiRC11 fatcat:ngj3kdvqbjbijab664qatvuaky

A review of morphogenetic engineering

René Doursat, Hiroki Sayama, Olivier Michel
2013 Natural Computing  
To answer these questions, we have launched in 2009, and developed through a series of workshops and a collective book, a new field of research called morphogenetic engineering.  ...  Morphogenetic engineering: toward programmable complex systems. Understanding complex systems. Springer, 2012a).]  ...  In a review of morphogenetic robotics, Meng (2011, 2012, Fig. 2 :3) examine methodologies for designing self-organizing, self-reconfigurable and self-adaptive robots inspired by biological morphogenesis  ... 
doi:10.1007/s11047-013-9398-1 fatcat:wm4vmlwuqfbgteigyfuz3vbm2m

Algorithmic Foundations of Programmable Matter Dagstuhl Seminar 16271

Sándor P. Fekete, Andréa Richa, Kay Römer, Christian Scheideler
2017 ACM SIGACT News  
about the newest developments in each area and to discuss future models, approaches, and directions for new research.  ...  The aim of this seminar was to bring together researchers from computational geometry, distributed computing, DNA computing, and swarm robotics who have worked on programmable matter to inform one another  ...  For this purpose, we brought together a combination of established experts from DNA computing, swarm robotics, computational geometry, and distributed computing.  ... 
doi:10.1145/3106700.3106713 fatcat:o5hz273x35b4bng7vczevvv2gu

Morphogenetic Engineering: Reconciling Self-Organization and Architecture [chapter]

René Doursat, Hiroki Sayama, Olivier Michel
2012 Understanding Complex Systems  
This book is the first initiative of its kind toward establishing a new field of research, Morphogenetic Engineering, to explore the modeling and implementation of "self-architecturing" systems.  ...  Generally, phenomena of spontaneous pattern formation are random and repetitive, whereas elaborate devices are the deterministic product of human design.  ...  Chapter 3: Morphogenetic Robotics: A New Paradigm for Designing Self-Organizing, Self-Reconfigurable and Self-Adaptive Robots, by Jin and Meng: This chapter reviews under the term morphogenetic robotics  ... 
doi:10.1007/978-3-642-33902-8_1 fatcat:z37vhhqfnnahrhfs4m73l7q7gu

Organizing the Aggregate: Languages for Spatial Computing [article]

Jacob Beal, Stefan Dulman, Kyle Usbeck, Mirko Viroli, Nikolaus Correll
2012 arXiv   pre-print
A large number of spatial computing domain specific languages (DSLs) have emerged across diverse domains, from biology and reconfigurable computing, to sensor networks and agent-based systems.  ...  In this chapter, we develop a framework for analyzing and comparing spatial computing DSLs, survey the current state of the art, and provide a roadmap for future spatial computing DSL investigation.  ...  Modern development methods and tools for embedded reconfigurable systems: A survey. Integration, the VLSI Journal, 43(1):1-33. Barney, B. (Retrieved Feb. 20, 2012) .  ... 
arXiv:1202.5509v2 fatcat:bmgan7ig5fghddait43avj43qy

A Component-Based Approach to the Design of Networked Control Systems

Karl-Erik Årzén, Antonio Bicchi, Gianluca Dini, Stephen Hailes, Karl H. Johansson, John Lygeros, Anthony Tzes
2007 European Journal of Control  
We outline a general componentbased framework to embedded control and show how it can be instantiated in specific problems that arise in the control over/of sensor networks.  ...  Building on the middleware component framework developed under the European project RUNES, we develop a number of control-oriented components necessary for the implementation of control applications and  ...  It has been a major effort of Workpackage 6 and several people of the workpackage has contributed. Among them P. Alriksson  ... 
doi:10.3166/ejc.13.261-279 fatcat:6de2gleganaqhpujt4dbkbwnxa

Neurons, viscose fluids, freshwater polyp hydra-and self-organizing information systems

F. Heylighen, C. Gershenson, S. Staab, G.W. Flake, D.M. Pennock, D.C. Fain, D. De Roure, K. Aberer, Wei-Min Shen, O. Dousse, P. Thiran
2003 IEEE Intelligent Systems  
Acknowledgments I thank Cheng-Ming Chuong and Peter Will for their valuable input and discussions during the DHM's development.  ...  simulation of embryo skin cells in forming feather buds, 9 the distributed control of robot swarms, 10 and the adaptive communication and control of self-reconfigurable robots. 5 Under the control of  ...  Colleagues and I have developed the DHM to control self-reconfigurable robots and swarms of robots, but its implications go beyond this.  ... 
doi:10.1109/mis.2003.1217631 fatcat:qm2r6vmijrcc7f742j4oivfgui

Basic genetic-algorithm-neural-network (GANN) pattern with a self-organizing security example

David Streisand, Rick Dove
2012 2012 IEEE International Carnahan Conference on Security Technology (ICCST)  
Toward that end a project is underway to catalog re-usable patterns of self-organizing security of many kinds, principally found in natural systems, but also seen in recent computational approaches.  ...  The anti-system adversarial community is characterized as a self-organizing system-of-systems, noted collectively for its leadership in rapid evolution and innovative advancement; widening the gap between  ...  The ultimate goal of the project is a pattern language for self-organizing security strategies.  ... 
doi:10.1109/ccst.2012.6393578 dblp:conf/iccst/StreisandD12 fatcat:z5pcmzwvfzg27i45syjykg563q

Active Exploitation of Redundancies in Reconfigurable Multi-Robot Systems [article]

Thomas M. Roehr
2021 arXiv   pre-print
To support this active exploitation of redundancies in robotic systems, this paper details an organization model as basis for planning with reconfigurable multi-robot systems.  ...  While traditional robotic systems come with a monolithic system design, reconfigurable multi-robot systems can share and shift physical resources in an on-demand fashion.  ...  Instead of enforcing distributed control approaches at all system levels, centralized control approaches for locally autonomous and self-sustained operation of agents are permitted and feasible.  ... 
arXiv:2106.12079v1 fatcat:e5mlj5uwozfk3i2j4pzrcj6vti

A model of emotion as patterned metacontrol

Ricardo Sanz, M. Guadalupe Sánchez-Escribano, Carlos Herrera
2013 Biologically Inspired Cognitive Architectures  
The information fed back from the sensorimotor loop into the control subsystem can be used to change four different elements of the controller: parameters associated to the control model, the control model  ...  In this article we show a general model of how emotion supports functional adaptation and how the emotional biological systems operate following this theoretical model.  ...  This language may be a general purpose programming language like C, Java or Python, or a domain specific language as is the case of the programming languages of SOAR, ACT-R, NeuroML (Gleeson et al., 2010  ... 
doi:10.1016/j.bica.2013.02.001 fatcat:dlev3lhv3beghb7dkka4sk2xgm

FPGA-based design of an evolutionary controller for collision-free robot navigation

M. A. H. B. Azhar, K. R. Dimond
2003 Proceedings of the 2003 ACM/SIGDA eleventh international symposium on Field programmable gate arrays - FPGA '03  
The self learning ability and the adaptive nature of an Artificial Neural Network (ANN) makes it a good candidate for the control structure of a robot's navigation.  ...  The employment of field programmable gate arrays (FPGAs) to a robot controller is very attractive, since it allows for fast IC prototyping and low cost modifications.  ...  We outline a reconfigurable system with self-organizing multiple-buses as the communication subsystem.  ... 
doi:10.1145/611817.611852 dblp:conf/fpga/AzharD03 fatcat:juups7gn3ve2vhw2fbicwvt5kq

Real-world applications of analog and digital evolvable hardware

T. Higuchi, M. Iwata, D. Keymeulen, H. Sakanashi, M. Murakawa, I. Kajitani, E. Takahashi, K. Toda, N. Salami, N. Kajihara, N. Otsu
1999 IEEE Transactions on Evolutionary Computation  
hertz systems, a neural network EHW chip capable of autonomous reconfiguration, a data compression EHW chip for electrophotographic printers, and a gate-level EHW chip for use in prosthetic hands and  ...  robot navigation.  ...  Shimada at RWCP for their support.  ... 
doi:10.1109/4235.788492 fatcat:vzjdsmu66farxmweuu2f3kb6py

Basic Genetic Algorithm pattern for use in self-organizing agile security

Rich Messenger, Rick Dove
2012 2012 IEEE International Carnahan Conference on Security Technology (ICCST)  
A project is underway that has identified six so-called SAREPH characteristics of adversarial self-organizing agility, and is now cataloging patterns toward a pattern language of selforganizing security  ...  Reviewed first are the pattern project and the general nature of the GA. A reusable generic pattern description is developed. How the pattern conforms to the SAREPH characteristics is shown.  ...  Rick Dove develops agile self-organizing systems as a principle investigator and application program manager at Paradigm Shift International, and chairs the INCOSE working group for Systems Security Engineering  ... 
doi:10.1109/ccst.2012.6393577 dblp:conf/iccst/MessengerD12 fatcat:argp4quc3nfvhphtzt2s5napg4
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