Fault-Tolerant Phototaxis of a Modular System Inspired by IGonium pectorale/I Using Phase-Based Control

In this study, we proposed a model for modular robots in which autonomous decentralized modules adaptively organize their behavior. The phototaxis of Gonium pectorale, a species of volvocine algae, was modeled as a modular system, and a fault-tolerant modular control method of phototaxis was propose...

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Bibliographic Details
Published in:Symmetry (Basel) 2024-05, Vol.16 (5)
Main Authors: Nishikawa, Kohei, Origane, Yuki, Etchu, Hiroki, Kurabayashi, Daisuke
Format: Article
Language:English
Subjects:
Mediation
Robotics industry
Robots
Online Access:Get full text
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Summary:In this study, we proposed a model for modular robots in which autonomous decentralized modules adaptively organize their behavior. The phototaxis of Gonium pectorale, a species of volvocine algae, was modeled as a modular system, and a fault-tolerant modular control method of phototaxis was proposed for it. The proposed method was based on the rotation phase of the colony and adaptively adjusted an internal response-related parameter to enhance the fault tolerance of the system. Compared to a constant parameter approach, the simulation results demonstrated a significant improvement in the phototaxis time for positive and negative phototaxis during module failures. This method contributes to achieving autonomous, decentralized, and purposeful mediation of the modules necessary for controlling modular robots.
ISSN:2073-8994
2073-8994
DOI:10.3390/sym16050630