Configuration of communication structure for distributed intelligent robotic system

The authors consider a grouping issue for a cellular robotic system (CEBOT) with multiple master cells. The CEBOT consists of a large number of autonomous robotic units called cells, that is, the system is one of group robotic systems. To evaluate the grouping effectiveness, the authors use the network energy. They consider each master cell as a coordinator in each sub-network. To evaluate the grouping network, they propose the cross-dependence matrix, which presents the relation between the cells and the task steps depending on a given task. The simulation results present the grouping examples of the cellular network. By describing the grouping issue, the authors also describe the effect for the group structure of an organization or a society