Fault-Tolerant Phototaxis of a Modular System Inspired by Gonium pectorale Using Phase-Based Control

Author:

Nishikawa Kohei1ORCID,Origane Yuki1ORCID,Etchu Hiroki1,Kurabayashi Daisuke1ORCID

Affiliation:

1. Department of Systems and Control Engineering, School of Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo 152-8550, Japan

Abstract

In this study, we proposed a model for modular robots in which autonomous decentralized modules adaptively organize their behavior. The phototaxis of Gonium pectorale, a species of volvocine algae, was modeled as a modular system, and a fault-tolerant modular control method of phototaxis was proposed for it. The proposed method was based on the rotation phase of the colony and adaptively adjusted an internal response-related parameter to enhance the fault tolerance of the system. Compared to a constant parameter approach, the simulation results demonstrated a significant improvement in the phototaxis time for positive and negative phototaxis during module failures. This method contributes to achieving autonomous, decentralized, and purposeful mediation of the modules necessary for controlling modular robots.

Funder

SSUP program of the Sony Semiconductor Solutions Corporation

JSPS KAKENHI

Publisher

MDPI AG

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