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Proceedings Paper

Nonlinear dynamics, symmetries, and robot system design
Author(s): Gerard T. McKee; Richard J. Hasinski; Paul S. Schenker
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Paper Abstract

In this paper we investigate a model for self-organizing modular robotic systems based upon dynamical systems theory. Sonar sensing is used as a case study, and the effects of nonlinear interactions between sonar sensing modules are examined. We present and analyze an initial set of results based upon an implementation of the model in simulation. The results show that the sonar sensors organize the relative phase of their sampling in response to changes in the demand placed on them for sensory data. Efficient sampling rates are achieved by the system adapting to take advantage of features in the environment. We investigate the types of phase patterns that emerge, and examine their relationship with symmetries present in the environment.

Paper Details

Date Published: 9 October 1998
PDF: 10 pages
Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); doi: 10.1117/12.327005
Show Author Affiliations
Gerard T. McKee, Univ. of Reading (United Kingdom)
Richard J. Hasinski, Univ. of Reading (United Kingdom)
Paul S. Schenker, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 3523:
Sensor Fusion and Decentralized Control in Robotic Systems
Paul S. Schenker; Gerard T. McKee, Editor(s)

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