Communication system of cellular robot: CEBOT

The dynamically reconfigurable robotic system is a novel kind of robotic system that can reconfigure itself to optimal structure depending on purpose and environment. To realize this concept, the authors propose CEBOT (cellular robotics). They explain the necessity of communication in both the docked and undocked states for CEBOT as an autonomous decentralized coordinated system and propose a method for achieving this. They show the necessity of coordination control and compare two autonomous docking methods. They define a communication protocol in the undocked state and realize it by an optical sensor. They then choose and realize a communication protocol in the docked state