Dynamic distributed knowledge system in self-organizing robotic system: CEBOT

The dynamical self knowledge allocation method is presented for a distributed intelligent system. The authors apply the method to the cellular robotic system CEBOT, which is one of the distributed systems. They propose a new matrix notation, the knowledge-based structure matrix, to express the communication link and states of the knowledge allocation. They also propose a matrix notation for describing a given task, the task matrix. The efficiency of the dynamical self knowledge allocation method reduces the total system communication information volume