Dynamic Power Distribution and Energy Management in a Reconfigurable   Multi-Robotic Organism
  Several design parameters in collective robotic systems have been investigated and developed in order to explore the cooperation among the autonomous robotic individuals in a variety of robotic swarms in the presence of different internal and external system constraints. In particular, the dynamic power management and distribution in a multi-robotic organism is of very high importance that depends not only on the electronic design but also on the mechanical structure of the robots. It further defines the true nature of the collaboration among the modules of a self-reconfigurable multi-robotic organism. This article describes the essential features and design of a dynamic power distribution and management system for a dynamically reconfigurable multi-robotic system. It further presents the empirical results of the proposed dynamic power management system collected with the real robotic platform. In the later half of the article, it presents a simulation framework that was especially developed to explore the collective system behavior and complexities involved in the operations of a multi-robotic organism. At the end, summary and conclusion follows the detailed discussion on the obtained simulation results. 
Humza Qadir Raja and Oliver Scholz
cs.SY