NDLI: Resilient Self-Reproducing Systems

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Amor, A. Menezes Pierre, T. Kabamba
Copyright Year	2008
Abstract	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.
Sponsorship	Dynamic Systems and Control Division
Starting Page	1333
Ending Page	1340
Page Count	8
File Format	PDF
ISBN	9780791843352
DOI	10.1115/DSCC2008-2284
e-ISBN	9780791838389
Volume Number	ASME 2008 Dynamic Systems and Control Conference, Parts A and B
Conference Proceedings	ASME 2008 Dynamic Systems and Control Conference
Language	English
Publisher Date	2008-10-20
Publisher Place	Ann Arbor, Michigan, USA
Access Restriction	Subscribed
Subject Keyword	Uncertainty Simulation Dynamics (mechanics) Engineering simulation Robotics Robots Failure mechanisms Resilience
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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