Heterogeneity for Increasing Performance and Reliability of Self-Reconfigurable Multi-Robot Organisms

Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems. This work addresses the heterogeneity concept, its rationales, design choices and performance evaluation. We introduce challenges for self-reconfigurable systems, show advances of mechatronic and software design of heterogeneous platforms and discuss experiments, which intend to demonstrate usability and performance of this system.

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Source https://inria.hal.science/hal-00907523
Author Kernbach, Serge, Schlachter, Florian, Humza, Raja, Liedke, Jens, Popesku, Sergej, Russo, Sheila, Ranzani, Tommaso, Manfredi, Luigi, Stefanini, Cesare, Matthias, Rene, Schwarzer, Christopher, Girault, Benjamin, Alschbach, Patrick, Meister, Eugen, Scholz, O.
Maintainer CCSD
Last Updated May 8, 2026, 03:50 (UTC)
Created May 8, 2026, 03:50 (UTC)
Identifier hal-00907523
Language en
contributor Institut für Parallele und Verteilte Systeme (IPVS) ; University of Stuttgart = Universität Stuttgart
creator Kernbach, Serge
date 2011-09-11T00:00:00
harvest_object_id d5e801fb-cc7b-4881-97c1-1a815ba7bbaa
harvest_source_id 3374d638-d20b-4672-ba96-a23232d55657
harvest_source_title test moissonnage SELUNE
metadata_modified 2026-04-13T00:00:00
relation info:eu-repo/semantics/altIdentifier/arxiv/1109.2288
set_spec type:UNDEFINED