Mathematical Foundation for Hormone-Inspired Control for Self-Reconfigurable Robotic Systems

Feili Hou and Wei-Min Shen. Mathematical Foundation for Hormone-Inspired Control for Self-Reconfigurable Robotic Systems. In Proc. 2006 IEEE Intl. Conf. on Robotics and Automation, pp. 1477–1482, Orlando, FL, May 2006.

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Abstract

In this paper, we present a general mathematical foundation of hormone-inspired control for the self-reconfigurable robotic system. Problem considered here is the lack of a mathematical description to analyze and explain the dynamic behavior of self-reconfigurable robots. In the global level, the idea of virtual disconnection is developed to abstract the low level module control away from the high level synchronization for both cyclic and acyclic robot configuration. In the module layer, the linear space model is developed to describe each module's internal state, input-output hormone transformation, and its action selection. As a combination of hormone and modern control theory, the approach in this paper gives more features, such as predictability and stability analysis etc, to hormone-inspired control, and makes it applicable to self-reconfigurable systems in general. Simulation and experimental results show the capacity of our method.

BibTeX Entry

@InProceedings{	  hou2006mathematical-foundation-for-hormone-inspired-control,
  abstract	= {In this paper, we present a general mathematical
		  foundation of hormone-inspired control for the
		  self-reconfigurable robotic system. Problem considered here
		  is the lack of a mathematical description to analyze and
		  explain the dynamic behavior of self-reconfigurable robots.
		  In the global level, the idea of virtual disconnection is
		  developed to abstract the low level module control away
		  from the high level synchronization for both cyclic and
		  acyclic robot configuration. In the module layer, the
		  linear space model is developed to describe each module's
		  internal state, input-output hormone transformation, and
		  its action selection. As a combination of hormone and
		  modern control theory, the approach in this paper gives
		  more features, such as predictability and stability
		  analysis etc, to hormone-inspired control, and makes it
		  applicable to self-reconfigurable systems in general.
		  Simulation and experimental results show the capacity of
		  our method.},
  address	= {Orlando, FL},
  author	= {Feili Hou and Wei-Min Shen},
  booktitle	= icra-06,
  month		= may,
  pages		= {1477--1482},
  title		= {Mathematical Foundation for Hormone-Inspired Control for
		  Self-Reconfigurable Robotic Systems},
  year		= {2006}
}