Evaluation of Communication Structure for Cellular Robotic System
Tsuyoshi Ueyama*, Toshio Fukuda**, and Fumihito Arai**
*Nippondennso Co., Ltd., I Shinmichi, Takatana-cho, Anjo-shi, Aichi 446 Japan
**Faculty of Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-01, Japan
This paper deals with an evaluation of the communication architecture for Cellular Robotic System (CEBOT) with plural master cells. The CEBOT consists of a large number of autonomous robotic units called “cells,” that is, the system is one of distributed robotic systems. The communication architecture is one of the important issues for distributed intelligent systems. To evaluate the effectiveness of the communication architecture, we use the network energy, which is proposed by us in the previous paper. The issue of the communication architecture for the distributed robotic system is also one of the grouping issues for the group robotic system. In this paper, we consider each master cell as a coordinator in each sub-network, where the sub-network is constructed by a master cell as a core. To evaluate the grouping network, we propose the cross-dependence matrix, which presents the relation between the cells and the task steps depending on a given task. The simulation results presents the grouping examples of the cellular network. According to the simulation results, we also describe the effect for the group structure of community or a society.