Adaptive Shape Reconfiguration of a Decentralized Motile System Exploiting Molecular Dynamics and Stokesian Dynamics Methods
Masahiro Shimizu*, Akio Ishiguro*, Masayasu Takahashi*,
Toshihiro Kawakatsu**, Yuichi Masubuchi*, and Masao Doi*
*Dept. of Computational Science and Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
**Dept. of Physics, Tohoku University, Aoba, Aramaki, Aoba-ku, Sendai 980-8578, Japan
This paper discusses a fully decentralized algorithm able to create a coherent swarm of autonomous mobile robots from the viewpoint of computational physics. To this end, we focus on Molecular Dynamics and Stokesian Dynamics, both of which are widely used to investigate many-body systems. To verify the feasibility of our approach, this idea has been implemented to a swarm of 2-D radio-connected autonomous mobile robots as a practical example. Simulation results indicate that the proposed algorithm can control the shape of the swarm appropriately based on the current situation without losing the coherence of the swarm nor exchanging global information among modules. Furthermore, we found that local interaction used to exploit Stokesian Dynamics plays an essential role to maintain the coherence of the swarm particularly in an unstructured environment.
Toshihiro Kawakatsu, Yuichi Masubuchi, and Masao Doi, “Adaptive Shape Reconfiguration of a Decentralized Motile System Exploiting Molecular Dynamics and Stokesian Dynamics Methods,” J. Robot. Mechatron., Vol.16, No.3, pp. 271-277, 2004.
-  A. Kamimura, S. Murata, E. Yoshida, H. Kurokawa, K. Tomita, and S. Kokaji, “Self-Reconfigurable Modular Robot Experiments on Reconfiguration and Locomotion,” in Proc. of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), pp. 590-597, 2001.
-  N. Shimoyama, K. Sugawara, T. Mizuguchi, Y. Hayakawa, and M. Sano, “Collective Motions in a System of Motile Elements,” Phys. Rev. Lett., 76, pp. 3870-3873, 1996.
-  J. Nembrini, A. Winfield, and C. Melhuish, “Minimalist Coherent Swarming of Wireless Networked Autonomous Mobile Robots From animals to animals 7,” MIT Press, pp. 373-382, 2002.
-  M. Doi and S. F. Edwards, “The Theory of Polymer Dynamics,” Oxford Science Publications, 1986.
-  Nagoya University Doi Project Research and Development of the Platform for Designing High Functional Materials: OCTA Coarse-Grained Molecular Dynamics Program Cognac User’s Manual,
-  R. B. Jones and R. Kutteh, “Sedimentation of Colloidal Particles Near a Wall: Stokesian Dynamics Simulations,” Phys. Chem. Chem. Phys., 1, pp. 2131-2139, 1999.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 International License.
Copyright© 2004 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.