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Towards energy homeostasis in an autonomous self-reconfigurable modular robotic organism

: Humza, R.; Scholz, O.; Mokhtar, M.; Timmis, J.; Tyrrell, A.


Institute of Electrical and Electronics Engineers -IEEE-:
Computation World 2009. Proceedings : Future Computing, Service Computation, Cognitive, Adaptive, Content, Patterns. November 15-20, 2009, Athens/Glyfada, Greece
Piscataway, NJ: IEEE, 2009
ISBN: 978-1-4244-5166-1
ISBN: 1-4244-5166-3
Computation World <2009, Athens>
Conference Paper
Fraunhofer IBMT ()

This paper presents a novel approach to artificial energy homeostasis in self-reconfigurable modular robots. Using self-monitoring and self-sufficiency principles, energy harvesting in a system of distributed energy sources is proposed. In conjunction with this, we propose an artificial immune system that incorporates on-board power management system for adaptive real time detection of errors which acts as an indicator to a robot to harvest energy from other robots within the local vicinity. Early experiments show that the Artificial Immune System affords a high level of error detection within the power module and will prove to be beneficial in maintaining overall performance of a robotic unit for long periods of time.