Method for the automated design of decentralized controllers for modular self-reconfigurable robots
AssigneeFuji Xerox Co., Ltd.
InventorsForrest H. Bennett, III, Eleanor Rieffel
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Abstract
A method and computer-readable medium is provided for designing control software for a module in a self-reconfigurable robot. A genetic method randomly selects a plurality of module software functions for creating a plurality of module control software programs. The plurality of control software programs are then evaluated against a series of tasks and respective fitness functions. The module control software is selected based on the software program having the highest fitness function value for a particular task.
Claims48
A method for providing software for a module in a self-reconfigurable robot, comprising the steps of:
- (a) providing a plurality of software functions for performing a respective plurality of module functions;
- (b) constructing a first plurality of software programs for solving a task from the plurality of software functions;
- (c) executing the first plurality of software programs to obtain a plurality of respective results;
- (d) obtaining a task fitness function for providing a fitness value;
- (e) calculating a plurality of respective fitness function values for the first plurality of software programs;
- (f) selecting a second plurality of software programs from the first plurality of software programs based on the respective fitness function values;
- and,
- (g) constructing a third plurality of software programs from the second plurality of programs using a genetic operation.
An article of manufacture, including a computer-readable memory, comprising:
- (a) a first plurality of software functions for performing a respective plurality of module functions in a self-reconfigurable robot;
- (b) a first software program for randomly selecting a plurality of software functions for forming a first plurality of software programs;
- (c) a fitness function for obtaining a respective plurality of fitness function values for the respective first plurality of software programs;
- and,
- (d) a second software program for constructing a second plurality of software programs from the first plurality of software programs based on the plurality of respective fitness function values.
A self-reconfigurable robot, comprising:
- (a) a first module;
- and,
- (b) a second module having a memory, coupled to a processor, for storing a software program for solving a task, wherein the software program is constructed from genetic programming and is able to complete the task with a failure of the first module.
A self-reconfigurable robot, comprising:
- (a) first module;
- and,
- (b) a second module having a memory, coupled to a processor, for storing a software program for solving a task, wherein the software program is constructed from genetic programming and the first and second modules are able to complete the task with the addition of a plurality of modules storing the software program, respectively.
Dependencies are inferred from the claim text.