A STUDY ON A DYNAMICALLY RECONFIGURABLE ROBOTIC SYSTEM - SELF-ORGANIZING DISTRIBUTED INTELLIGENCE SYSTEM OF LEARNING AND REASONING FOR CELLULAR ROBOTICS CEBOT

We have studied the ''cellular robotic system (CEBOT),'' which consist s of many kinds of units called ''cells.'' CEBOT is required to be abl e to carry out many sorts of tasks under various surroundings. However , it is impossible for CEBOT to install all sorts of the task executio n procedures. Then CEBOT should be able to generate task execution pro cedures for a new task by reconfigurating itself. In this paper, we pr opose a new kind of distributed intelligence system which is based on the concept of CEBOT. This proposed intelligence system has the abilit ies of learning, reasoning, and self-organizing. Similar to the hardwa re structure of CEBOT, this system consists of various kinds of intell igence units called ''knowledge cells.'' By using the knowledge cells and the proposed algorithms, the system which can generate task proced ures is realized. Some simulations are also shown for demonstrating th e self-organization and self-evolution abilities of the distributed in telligence system.