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SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Parallel and distributed computation: numerical methods
Parallel and distributed computation: numerical methods
Communications of the ACM - Robots: intelligence, versatility, adaptivity
How to make a self-reconfigurable robot run
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 2
Wireless sensor networks: a survey
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Autonomous Robots
Decentralized synchronization protocols with nearest neighbor communication
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Computer
Multimode locomotion via SuperBot reconfigurable robots
Autonomous Robots
DESYNC: self-organizing desynchronization and TDMA on wireless sensor networks
Proceedings of the 6th international conference on Information processing in sensor networks
Reaching a Consensus in a Dynamically Changing Environment: A Graphical Approach
SIAM Journal on Control and Optimization
Self-organized flocking with a mobile robot swarm
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
Sensing-based shape formation on modular multi-robot systems: a theoretical study
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
Self-adapting modular robotics: a generalized distributed consensus framework
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Autonomous Self-Assembly in Swarm-Bots
IEEE Transactions on Robotics
Robotic clusters: Multi-robot systems as computer clusters
Robotics and Autonomous Systems
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Biological systems achieve amazing adaptive behavior with local agents that perform simple sensing and actions. This has recently inspired the control strategies and design principles of modular robots. In this paper, we introduce a distributed control framework through which modular robots can achieve various self-adaptive tasks. By self-adaptive tasks, we imply tasks where the modular robot uses its distributed sensors to solve tasks and cope with environment changes. We show that modular robot self-adaptive tasks can be formulated as distributed constraint maintenance on a networked multi-agent system such that performing collective self-adaption can be simplified as satisfying local constraints. This formulation allows us to propose a control framework based on a class of multi-agent algorithms called distributed consensus. We further generalize this framework to capture a wide range of sensor芒聙聰actuator networks in different distributed robotic systems. We prove various theoretical properties of the framework, including its scalability to network diameter and the number of modules. Based on our theoretical understanding, we demonstrate this framework with various tasks, including (1) self-adaptive structures that maintain their shapes in changing environments, (2) an adaptive column that can adapt to external force, and (3) a modular gripper that can manipulate fragile objects. This work provides a deep understanding of the theoretical properties of distributed consensus-type control and its applications to modular robots.