INTELLIGENT CONTROL ISSUES IN A DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEM: I-CUBES

general, and in self-reconfiguring modular robotic systems in particular concerns the coordination and cooperation of multiple objects to fulfill a specified task. However, the implementation phase typically faces two conflicting needs: Cheapest design and accuracy in fulfilling the task. In this paper, we describe a fuzzy control scheme for the servo systems of I-Cubes, which operate in a highly information-limited environment due to the size constraints. The results observed strongly recommend the approach due to its low computational cost together with the robustness against disturbances