In nature, animal groups achieve robustness and scalability with each individual executes a simple and adaptive strategy. Inspired by this phenonmenon, engineers proposed a decentralized control framework for modular robots to achieve coordinated and self-adaptive tasks with each modules performs simple distributed sensing and actuation. Examples here show that such a framework allows several different modular robotic systems to achieve self-adaptation tasks scalably and robustly: a module-formed table and bridge that adapt to constantly-perturbed environment.
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