|InterJournal ????, 1581
|Manuscript Number: |
Submission Date: 2004
|Hormone-Inspired Distributed Language for Self-Reconfigurable Robots|
This paper describes a distributed language DH2 for programming of Self-Reconfigurable robotic systems. DH2 is inspired by the biological concept of hormones and neurotransmitters. It provides messaging and execution constructs for distributed coordination among a collection of reconfigurable modules in accomplishing of global tasks. Through its constructs DH2 facilitates easy programming of locomotion and reconfiguration behaviors. DH2 is implemented as a meta-language on top of C++ and is tested on a set of simulated CONRO modules. Experimental results support the usability of DH2 for developing of autonomous self-reconfigurable systems.
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