動的再構成可能ロボットシステムに関する研究 : 第12報,遺伝的セル生成アルゴリズム(GCPA)に基づく自己組織システム

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Self-organizing systems and distributed systems have recently been studied by many researchers. The authors have studied a cellular robotic system called CEBOT as a dynamically reconfigurable robotic system. CEBOT consists of many sorts of functional units, which have simple functions, knowledge, and a database. CEBOT is required to perform many given tasks in various environments by reconfiguring the structures of both hardware and software. If CEBOT does not possess a proper subsystem, called a module, in its own system, it must create a module by combining dells. In the process of the cell production, we apply the genetic algorithms (GA) to the CEBOT. We propose the algorithm called the genetic cell production algorithm, (GCPA) in this paper. We also propose a performance index based on the theory of entropy in order to estimate the performance of distributed systems. To assess the GCPA and the estimation method, we conducted on experiment using a robot manipulator contorolled by self-organizing knowledge system based on the GCPA.
1992-12-25