Heterogeneity for Increasing Performance and Reliability of Self-Reconfigurable Multi-Robot Organisms [article]

S. Kernbach, F. Schlachter, R. Humza, J. Liedke, S. Popesku, S. Russo, T. Ranzani, L. Manfredi, C. Stefanini, R. Matthias, Ch. Schwarzer, B. Girault, P. Alschbach (+2 others)
2011 arXiv   pre-print
Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems. This work addresses the heterogeneity concept, its rationales, design choices and performance evaluation. We introduce challenges for self-reconfigurable systems, show advances of mechatronic and software design of heterogeneous platforms and discuss experiments, which intend to demonstrate usability and performance of this system.
arXiv:1109.2288v1 fatcat:wx2nhk7nx5cbrdti2gzx3u7v44