Distributed decision making of dynamically reconfigurable robotic system

Recently the research of distributed autonomous robotic system (DARS) has been attracting research interest. The main advantage of DARS is flexibilty. comparing with central controlled system. Cellular Robotic System (CEBOT) is one of the distributed robotic system which consists of heterogeneous robots and they can change their function by means of structure reconfiguration of robotic units called "cell". In this paper, we will consider distributed decision making where system is composed of large group and plural tasks and propose a method of decision making. And we applied it to show adaptability of dynamically reconfigurable robotic system.