【正文】 t=(t+1) modulus T } 模塊一再忽略了兩個(gè)循環(huán)的第一線，經(jīng)過一個(gè)循環(huán)計(jì)數(shù)器 ?參數(shù) eterized 的行動(dòng)序列。 （ T）描述的交流，每個(gè)模塊重復(fù)循環(huán)周期后。此外，我們假設(shè)該模塊可以與它們所連接的模塊進(jìn)行通信。相比父。這個(gè)序列可能來自步態(tài)控制表列，但在我們實(shí)施的關(guān)節(jié)角度計(jì)算使用一個(gè)循環(huán)周期T功能。在他們的做法模塊鄰居模塊狀態(tài)的變化作出反應(yīng)。這是一個(gè)重大的問題，因?yàn)榧に乜梢院苋菀讈G失，由于不可靠的通信，可以一個(gè)模塊斷開響應(yīng)之前，或一個(gè)模塊失敗。激素，在以后的工作也落后傳播同步之前，一個(gè)新的行動(dòng)啟動(dòng) [16,18]的所有模塊。這意味著該模塊需要的 ID。另一個(gè)問題是需要一個(gè)中央控制器，因?yàn)樗o出了系統(tǒng)的單點(diǎn)故障。步態(tài)控制表的基礎(chǔ)上，他們的系統(tǒng)控制。然后，該系統(tǒng)的全球行為出現(xiàn)從當(dāng)?shù)馗鱾€(gè)模塊之間的互動(dòng)。 它是一個(gè)開放的問題，如果一個(gè)自上而下或自下而上的方法提供了最好的結(jié)果。該算法應(yīng)該是分布式的，以避免單一故障點(diǎn)。 如果在硬件和軟件方面的一些挑戰(zhàn)可以得到滿足，可實(shí)現(xiàn)自重構(gòu)機(jī)器人的潛力。該機(jī)器人還可以處理未知或動(dòng)態(tài)的環(huán)境中使用的任務(wù)，因?yàn)?他們能夠適應(yīng)這些 ENVI 環(huán)境。因此，單個(gè)模塊的成本可以保持比較低的，盡管它的復(fù)雜性。 ?健壯性。 ?多功能性?；诮巧目?制 介紹 可重構(gòu)機(jī)器人是由一個(gè)獨(dú)立的模塊連接在一起，形成一個(gè)機(jī)器人的 POS大量的機(jī)器人。我們使用基于角色的控制，實(shí)施毛蟲，響尾蛇，并滾動(dòng)軌道中的 CONRO 8 個(gè)模塊組成的自我重構(gòu)機(jī)器人步態(tài)。y, . Shen, P. Will, How to make a selfreconfigurable robot run, in: Proceedings of the First International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS’02), Bologna, Italy, 2020, pp. 813–820. [20] K. St248。 2020 Elsevier Science . All rights reserved. Keywords: Selfreconfigurable robots。y a,? , . Shen b, . Will b a The Adaptronics Group, The Maersk Institute, University of Southern Denmark, Campusvej 55, DK5230 Odense M, Denmark b USC Information Sciences Institute and Computer Science Department, 4676 Admiralty Way, Marina del Rey, CA 90292, USA Abstract In this paper we present rolebased control which is a general bottomup approach to the control of lootion in selfreconfigurable robots. We use rolebased control to implement a caterpillar, a sidewinder, and a rolling track gait in the CONRO selfreconfigurable robot consisting of eight modules. Based on our experiments and discussion we conclude that control systems based on rolebased control are minimal, robust to munication errors, and robust to reconfiguration. 169。 in applications where the task and environment are given a priori it is often cheaper to build a special purpose robot. Therefore, applications best suited for selfreconfigurable robots are applications where some leverage can be gained from the special abilities of selfreconfigurable robots. The versatility of these Fig. 1. A CONRO module. The three male connectors are located in the lower right corner. The female connector is partly hidde n from view in the upper left corner. robots make them suitable in scenarios where the robots have to handle a range of tasks. The robots can also handle tasks in unknown or dynamic environments, because they are able to adapt to these environments. In tasks where robustness is of importance it might be desirable to use selfreconfigurable robots. Even though real applications for selfreconfigurable robots still are to be seen, a number of applications have been envisioned [17,23]: fire fighting, search and rescue after an earthquake, battlefield reconnaissance, plaary exploration, undersea mining, and space structure building. Other possible applications include entertainment and service robotics. The potential of selfreconfigurable robots can be realized if several challenges in terms of hardware and software can be met. In this work we focus on one of the challenges in software: how do we make a large number of connected modules perform a coordinated global behavior? Specifically we address howto design algorithms that will make it possible for selfreconfigurable robots to loote efficiently. In order for a lootion algorithm to be useful it has to preserve the special properties of these robots. From the advantages and applications mentioned above we can extract a number of guidelines for the design of such a control algorithm. The algorithm should be distributed to avoid having a single point of failure. Also the performance of the algorithm should scale with an increased number of modules. It has to be robust to reconfiguration, because reconfiguration is a fundamental capability of selfreconfigurable robots. Finally, it is desirable to have homogeneous software running on all the modules, because it makes it possible for any module to take over if another one fails. It is an open question if a topdown or a bottomup approach gives the best result. We find that it is difficult to design the system at the global level and then later try to make an implementation at the local level,because often properties of the hardware are ignored and a slow robotic system might be the result. Therefore, we use a bottomup approach where the single module is the basic unit of design. That is, we move from a global design perspective to a bottomup one where the important design element is the individual module and its interactions with its neighbors. The global behavior of the system then emerges from the local interaction between individual modules. A similar approach is also used by Bojinov et al. [1,2] and Butler et al. [4]. 2. Related work In the related work presented here we focus on control algorithms for lootion of selfreconfigurable robots. Yim et al. [22,23] demonstrate caterpillarlike locomotion and a rolling track. Their system is controlled based on a gait control table. Each column in this table represents the actions performed by one module. Motion is then obtain by having a master synchronizing the transition from one row to the next. The problem with this approach is that the amount of munication needed between the master and the modules will limit its scalability. Another problem is the need for a central controller, since it gives the system a single point of failure. If there is no master it is suggested that the modules can be assumed to be synchronized in time and each module can execute its column of actions openloop. However, since all the modules are autonomous it is a questionable assumption to assume that all the modules are and can stay synchronized