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- Title
Fault-Tolerant Phototaxis of a Modular System Inspired by Gonium pectorale Using Phase-Based Control.
- Authors
Nishikawa, Kohei; Origane, Yuki; Etchu, Hiroki; Kurabayashi, Daisuke
- Abstract
In this study, we proposed a model for modular robots in which autonomous decentralized modules adaptively organize their behavior. The phototaxis of Gonium pectorale, a species of volvocine algae, was modeled as a modular system, and a fault-tolerant modular control method of phototaxis was proposed for it. The proposed method was based on the rotation phase of the colony and adaptively adjusted an internal response-related parameter to enhance the fault tolerance of the system. Compared to a constant parameter approach, the simulation results demonstrated a significant improvement in the phototaxis time for positive and negative phototaxis during module failures. This method contributes to achieving autonomous, decentralized, and purposeful mediation of the modules necessary for controlling modular robots.
- Subjects
PHOTOTAXIS; FAULT-tolerant control systems; FAULT-tolerant computing; FAULT tolerance (Engineering); ROBOT control systems
- Publication
Symmetry (20738994), 2024, Vol 16, Issue 5, p630
- ISSN
2073-8994
- Publication type
Article
- DOI
10.3390/sym16050630