Self-reconfiguration in task space of a holonic structure

Durna M., Erkmen I. , Erkmen A.

IEEE/Robotics-Society-of-Japan International Conference on Intelligent Robots and Systems (IROS 2000), Takamatsu, Japan, 31 October - 05 November 2000, pp.2366-2373 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Takamatsu
  • Country: Japan
  • Page Numbers: pp.2366-2373


This paper introducer a methodology developed for the self-organization of a colony of holons in its task space where holons act as intelligent agents in this decentralized robotic structure such that they self localize themselves in the reconfiguration task space of their colony and identify their individual role in the colony re-organization. We term such an n-holon colony where intelligent agents can self-localize in the reconfiguration task space without their individual tasks within the colony configuration being assigned by a central controller, an n-Holony.