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首页> 外文会议>Dynamic systems and control conference 2008 >RESILIENT SELF-REPRODUCING SYSTEMS
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RESILIENT SELF-REPRODUCING SYSTEMS

机译：弹性的自我复制系统

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摘要

This paper is motivated by the need to minimize the payload mass required to establish an extraterrestrial robotic colony. One approach for this minimization is to deploy a colony consisting of individual robots capable of self-reproducing. An important consideration once such a colony is established is its resiliency to large-scale environment or state variations. Previous approaches to learning and adaptation in self-reconfigurable robots have utilized reinforcement learning, cellular automata, and distributed control schemes to achieve robust handling of failure modes at the modular level. This work considers self-reconfigurability at the system level, where each constituent robot is endowed with a self-reproductive capacity. Rather than focus on individual dynamics, the hypothesis is that resiliency in a collective may be achieved if: 1) individual robots are free to explore all options in their decision space, including self-reproduction, and 2) they dwell preferentially on the most favorable options. Through simulations, we demonstrate that a colony operating in accordance with this hypothesis is able to adapt to changes in the external environment, respond rapidly to applied disturbances and disruptions to the internal system states, and operate in the presence of uncertainty.
机译：本文的动机是需要最小化建立外星机器人殖民地所需的有效载荷质量。实现这种最小化的一种方法是部署由能够自我繁殖的单个机器人组成的菌落。一旦建立了这样的殖民地，一个重要的考虑因素就是其对大规模环境或国家变化的适应力。自我重构机器人中学习和适应的先前方法已经利用强化学习，元胞自动机和分布式控制方案来在模块级别实现故障模式的鲁棒处理。这项工作考虑了系统级别的自我可重新配置性，其中每个组成型机器人都具有自我繁殖的能力。假设不关注个体动力学，而是在以下情况下实现集体的弹性：1）个体机器人可以自由地探索其决策空间中的所有选项，包括自我复制，以及2）他们优先考虑最有利的条件选项。通过模拟，我们证明了根据该假设操作的菌落能够适应外部环境的变化，对内部系统状态施加的干扰和干扰做出快速响应，并在存在不确定性的情况下进行操作。

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  • 来源
  • 会议地点 Ann Arbor MI(US);Ann Arbor MI(US);Ann Arbor MI(US);Ann Arbor MI(US);Ann Arbor MI(US)
  • 作者

    Amor A. Menezes; Pierre T. Kabamba;

  • 作者单位

    Department of Aerospace Engineering University of Michigan Ann Arbor, Michigan 48109;

    Department of Aerospace Engineering University of Michigan Ann Arbor, Michigan 48109;

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  • 正文语种 eng
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