Nonlinear dynamics, symmetries, and robot system design

Gerard T. McKee; Richard J. Hasinski; Paul S. Schenker

doi:10.1117/12.327005

9 October 1998 Nonlinear dynamics, symmetries, and robot system design

Gerard T. McKee, Richard J. Hasinski, Paul S. Schenker

Proceedings Volume 3523, Sensor Fusion and Decentralized Control in Robotic Systems; (1998) https://doi.org/10.1117/12.327005
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

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.

Citation Download Citation

Gerard T. McKee, Richard J. Hasinski, and Paul S. Schenker "Nonlinear dynamics, symmetries, and robot system design", Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); https://doi.org/10.1117/12.327005

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