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JACIII Vol.28 No.1 pp. 12-20
doi: 10.20965/jaciii.2024.p0012
(2024)

Research Paper:

Simulated vs Actual Application of Symbiotic Model on Six Wheel Modular Multi-Agent System for Linear Traversal Mission

Arvin H. Fernando*1,† ORCID Icon, Laurence A. Gan Lim*1 ORCID Icon, Argel A. Bandala*2 ORCID Icon, Ryan Rhay P. Vicerra*3 ORCID Icon, Elmer P. Dadios*3 ORCID Icon, Marielet A. Guillermo*3 ORCID Icon, and Raouf N. G. Naguib*4 ORCID Icon

*1Department of Mechanical Engineering, De La Salle University
2401 Taft Avenue, Malate, Manila 1004, Philippines

Corresponding author

*2Department of Electronics and Computer Engineering, De La Salle University
2401 Taft Avenue, Malate, Manila 1004, Philippines

*3Department of Manufacturing Engineering and Management, De La Salle University
2401 Taft Avenue, Malate, Manila 1004, Philippines

*4Liverpool Hope University
Hope Park, Taggart Avenue, Liverpool L 9, United Kingdom

Received:
March 3, 2023
Accepted:
July 13, 2023
Published:
January 20, 2024
Keywords:
differential drive kinematics, modular reconfigurable robot, multi-agent system, odometry, symbiosis
Abstract

Constant demand for sustainable mechanisms to perform heavy and risky tasks has driven more robotics innovations to arise. Modular reconfigurable robotics system is one of these promising technologies that are continuously explored. Homogeneous types, to be specific, can accomplish similar missions at the same time as individual and heavier missions as an integrated system. This paper presents an analysis of the carrying capacity of a six-wheeled modular multi-agent system using the symbiotic model. The objective is to determine the resulting symbiotic relationship of a given configuration and module state combinations. The results show that the dominant relationship among the trials for linear traversal mission is commensalism. That means, the system neither benefits nor gets harmed from the symbiosis formed. This is true both in simulated and actual test environments although the percentage difference is about 12%. MATLAB Simulink was used for simulation while Maqueen robot in a 3D-printed chassis was used for actual testing. With this study, future configurations for several other missions such as object tracking and ramp climbing can be assessed using the same approach so that possible fault occurrence during operations can be prevented since the developed analysis method is performed prior to the deployment of the system.

Cite this article as:
A. Fernando, L. Lim, A. Bandala, R. Vicerra, E. Dadios, M. Guillermo, and R. Naguib, “Simulated vs Actual Application of Symbiotic Model on Six Wheel Modular Multi-Agent System for Linear Traversal Mission,” J. Adv. Comput. Intell. Intell. Inform., Vol.28 No.1, pp. 12-20, 2024.
Data files:
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Last updated on Jul. 23, 2024