A Study on Dynamically Reconfigurable Robotic System. 11th Report. Cooperative Generation of Sequence for Structure Configuration using Genetic Algorithm.

剛, 植山; 敏男, 福田; 史人, 新井; 恒彦, 杉浦; 彰, 酒井; 武弘, 上杉

doi:10.1299/kikaic.58.3035

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Initial configuration dependence in a self-organizing robot

Izuni

Watanabe

Tamura

et al. 1999

Artif Life Robotics

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In this paper, we describe the dependence of an initial state in a self-organizing robot on an optimal structure configuration, where a "fractum" is used as a basic unit. Each robot operates on a genetic algorithm (GA) by itself, and all of them will produce a desired configuration. However, problems such as a deadlock state can happen depending on the initial configuration. A deadlock state means a state in which no robots can move because each robot moves autonomously. It is proved from simulations that a difference in the initial configuration can affect both the deadlock rate and the number of movements of fracta needed to obtain an optimal structure configuration.

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