A Dynamic ID Assignment Approach for Modular Robots

Abstract

In this paper, we present a distributed Id assignment algorithm for modular robots. Our proposed solution supports both the removal and the addition of particles in the system, while maintaining particular characteristics in the logical tree, allowing for fast and efficient inter-module communications. The key goal here is to maintain easily calculated routes between any two particles in the system, with the minimal overhead possible. The idea of "holes" or free IDs is introduced in the system by three main alterations to our previous unique id assignment algorithm [2]. The first being the modification of the unique ID assignment phase. The second being the handling of particles removal from the system. And the third being the handling and initiation of a newly added particle anywhere in the system.