Method for the automated design of decentralized controllers for modular self-reconfigurable robots
First Claim
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1. 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.
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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.
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Citations
48 Claims
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1. A method for providing software for a module in a self-reconfigurable robot, comprising the steps of:
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(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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41)
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42. An article of manufacture, including a computer-readable memory, comprising:
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(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. - View Dependent Claims (43)
(e) a third software program for forming a third plurality of software programs from the second plurality of software programs by using a genetic operation on a software program in the second plurality of software programs.
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44. A self-reconfigurable robot, comprising:
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(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. - View Dependent Claims (45, 46, 47)
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48. A self-reconfigurable robot, comprising:
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(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.
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Specification