Consequences of module combination in a modular robotics system

James A. Fryer; Gerard T. McKee

doi:10.1117/12.360348

26 August 1999 Consequences of module combination in a modular robotics system

James A. Fryer, Gerard T. McKee

Proceedings Volume 3839, Sensor Fusion and Decentralized Control in Robotic Systems II; (1999) https://doi.org/10.1117/12.360348
Event: Photonics East '99, 1999, Boston, MA, United States

Abstract

Modular robotics considers robots to be composed of distinct functional modules, which may be combined to perform tasks. Module combination allows functionality to be tailored to a task, but has a number of requirements. The notion of a 'module' must be clearly defined, and functionality specified in an unambiguous manner. The nature of the combination must be defined according to specific relationships between modules, and the consequences arising form combination - for modules and for the robot as a whole - need to be considered. The MARS model has been developed to allow reasoning about module combination, in terms of the ways in which modules may be combined, and the consequences that may arise form that combination. This paper defines a set of consequences which may arise during module combination.

Citation Download Citation

James A. Fryer and Gerard T. McKee "Consequences of module combination in a modular robotics system", Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); https://doi.org/10.1117/12.360348

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