Control strategy for a network of cellular robots-determination of a master cell for cellular robotic network based on a potential energy

A control strategy for a network of cellular robots (CEBOT) is proposed. The strategy is based on the selection of a master cell and assumes centralized control of the CEBOT network. The selection is made using a network energy, in which an energy function is calculated based on the information flow in the CEBOT network and the state space of the communication transition probability. The authors describe both a method of mastering, which implies the determination of the master cell of the network based on the information flow between cells, and a method of mastering by a local energy sensitive estimation as a method of finding the master cell for the CEBOT network. It is assumed that the network has a binary tree structure for control and communication. The master cell is defined as a window for interaction between users and the CEBOT. Simulation results on the mastering are shown