A Study on Dynamically Reconfigurable Robotic System. 20th Report. Organization of Hierarchical Structure on Decentralized Autonomous Systems Based on Interdependence Between Units.

Abstract

This paper deals with the self-organization of a group of multiple robotic systems consisting of several or a number of autonomous robots, such as the Cellular Robotic System (CEBOT). In paticular, in this paper, we will present the self-organization of the hierarchical structure of the CEBOT as one of the decentralized autonomous robotic systems. The structural organization is simulated based on the idea of interdependence between autonomous robots, which is derived from the model of group organization of human beings. That is, groups are organized and leaders emerge from the interdependence of the individuals. Additionaley, an evaluation method for the hierarchical architecture is also discussed to evaluate the structure of the whole system. This paper will represent simulation results of self-organization of hierarchical structure on the basis of a given task model. The sensitivity of the organization of the decentralized autonomous robotic systems is also discussed in the simulation.