认知机器人Cognitive Robot
机器人智能感知与认知技术研究
机器人智能感知与认知技术研究随着人工智能的快速发展，机器人在日常生活中扮演着越来越重要的角色。
机器人的智能感知与认知技术作为其中重要的一环，成为了科学家们关注的热点。
本文将对机器人的智能感知与认知技术进行研究与探讨。
一、智能感知技术智能感知技术是机器人实现感知能力的基础。
通过不同的传感器，机器人可以感知到周围的外界环境和目标物体。
比如，视觉感知技术能够让机器人通过摄像头获取图像，并进行图像识别、目标检测等操作。
声音感知技术则可以让机器人听到声音，并进行语音识别、情感分析等操作。
此外，还有触觉感知技术、力矩感知技术等，使机器人能够感知到物体的质地、形状、压力等信息。
在智能感知技术的基础上，机器人可以进行环境理解和情境感知。
通过对环境的感知，机器人可以获取到地图、位置、路面状况等信息，从而做出相应决策。
情境感知则是指机器人对于特定情境的理解和反应，比如对话中的上下文理解、语境分析等。
这些技术的发展将极大地提升机器人的自主性和适应性。
二、智能认知技术智能认知技术是机器人进行高级认知和智能决策的重要手段。
通过模拟人类的认知过程，机器人能够更好地理解和分析信息。
机器人的智能认知技术主要包括自然语言处理、知识表示与推理、机器学习等。
自然语言处理技术使得机器人能够理解和产生符合语法和语义规则的自然语言。
通过对自然语言的解析和理解，机器人可以进行对话、问答等交流方式。
这在人机交互方面具有重要意义，使得机器人能够更好地与人类进行沟通和合作。
知识表示与推理技术是指通过构建知识图谱和推理模型，使得机器人能够储存和处理大量的知识。
机器人可以从知识图谱中获取到相关的知识，并进行推理、判断、决策等操作。
这样的技术将有助于机器人更加智能地应对复杂的任务和场景。
机器学习技术是指通过训练算法和模型，使得机器人能够从大量的数据中学习和提取规律。
机器人可以通过机器学习算法进行数据分析和模式识别，从而不断改进和优化自己的行为和决策。
这样的技术使得机器人能够自主地学习和适应环境，具备更高的智能水平。
关于智能机器人的认识
关于智能机器人路径规划的认识樊阳阳仪器仪表工程学号2013704008摘要智能机器人是人工智能的理想研究平台，是一个在感知、思维、效应方面全面模拟人的机器系统，它是人工智能技术的综合试验场，可以全面地考察人工智能各个领域的技术。
在简要介绍智能机器人及发展状况的基础上，深入阐述了机器人在其路径规划算法的研究现状，对全局的路径规化算法作出了详细的研究，指出各种算法的优缺点，提出建立嵌入式智能机器人路径规划平台，实现了基于嵌入式实时系统的智能机器人路径规划算法。
关键词：嵌入式技术；路径规划；智能机器人On the Understanding of the Intelligent Robot PathPlanningAbstractIntelligent robot is an ideal research platform, artificial intelligence (ai) is a comprehensive simulation in terms of perception, thinking, effect of machine system, it is a comprehensive range of artificial intelligence technology, can fully inspect all areas of artificial intelligence technology. The brief introduction of intelligent robots and the development status, on the basis of deeply expounds the robot in its research status quo of path planning algorithm for global path planning algorithm made a detailed research, and points out the advantages and disadvantages of various algorithms, the proposed embedded intelligent robot path planning platform, realizes the intelligent robot path planning algorithm based on embedded real-time system. Key words:Embedded technology;Path planning;Intelligent robot目录前言 (4)第1章智能机器人的未来发展 (5)第2章智能机器人的路径规划技术研究 (7)第3章全局路径规划算法研究 (8)第3.1节构型空间法 (8)第3.2节可视图法 (8)第3.3节优化算法 (8)第3.4节拓扑法 (8)第3.5节栅格解耦法 (9)第3.6节自由空间法 (9)第3.7节神经网络法 (9)第4章嵌入式智能机器人路径规划算法的应用与实现 (11)结论 (12)参考文献 (13)前言智能机器人是一个在感知、思维、效应方面全面模拟人的机器系统，外形不一定像人。
机器人学导论
History
The idea of robot goes back to ancient time in the world.
Leonardo da Vinci created many human-inspired, robot-like sketches, designs, and models in the 1500’s.
木牛流马
History
The idea of robot goes back to ancient time in the world.
The 2nd century B.C., the ancient Greece person in Alexander time‘s has invented the most primitive robot “ automaton”. By the power of the water, the air and the steam pressure, the statue（雕像） can move and even open the door as well as sing.
Leonardo Humanoid Robot with Internal Mechanisms
History
Jaquet-Droz Automata (雅克-德罗机械人偶),1774
The Writer「作家」,The Draughtsman「画家」和The Musician「音乐家」
History
The Western Zhou Dynasty, our country‘s skilled craftsman Yan (偃师)developed the actor who could sing and dance well, this was the robot which our country recorded most early.
高考英语专题练之说明文阅读
2022高考英语专题练之说明文阅读（A）If you want to stay in shape, but don’t have the time to go to the gym, the Mobile Gym is a good solution. It’s basically a large bus filled with the latest fitness equipment. You can find everything you need for a complete workout, and here’s the best part — you don’t need to go to the gym, and the gym comes to you!The Mobile Gym was the idea of Adam Zickerman, founder of Inform Fitness, a popular chain of gyms across the United States. It hit him when he ordered lunch from a food truck one afternoon. So why not put a gym on a truck?Zickerman experimented with a few designs and then invested $60,000 on making adaptations and fixing machines. He didn’t really need an advertising budget as the bus advertised itself. Carole Pallmeyer, for instance, found herself driving behind the Mobile Gym one day. At first she thought it was a regular bus with ads for a gym. But then she realized the bus itself was a gym, so she booked workout sessions for her entire family. “We are all busy, but we know the bus is coming and make sure we are home at 4:30 for the workouts,” she said. “You forget you’re on a bus because the workouts are tightly scheduled.”Unfortunately, it is illegal to use the fitness equipment while the bus is moving, so you don’t get to save time by working out during the rush time. It operates only once a week, only two clients ( 客户) can be accommodated at a time on the bus. And it doesn’t come cheap. Sessions start at $100, while in-house workouts are $65. But the Mobile Gym appears to be a big hit.“There are so many benefits to having the Mobile Gym come to you,” Zickerman said. “Only five to seven exercises complete a total-body workout when performed using our special equipment.” He also added that a 20-minute workout might sound easy, but it is really difficult and provides instant results. “It is very challenging and clients understand quickly why rest is important between workouts.”1．What inspired Zickerman to invent the Mobile Gym?A．A usual order for a meal.B．A casual visit to a gym.C．A tight schedule for workout.D．A specific experience of exercise. 2．Which of the following is NOT the benefit of the Mobile Gym?A.It saves much of clients’ time.B.It creates adequate private space.C.It offers special equipment needed for a total-body workout.D.It provides clients with an appropriate and effective workout.3.What’s Zickerman’s attitude towards the Mobile Gym?A.Concerned.B．Negative.C．Objective.D．Optimistic.（B）“We are running out of space and the only places to go to are other worlds... Spreading out may be the only thing that saves us from ourselves. I am convinced that humans need to leave Earth.” These are the words of the famous scientist Stephen Hawking, spoken at a science festival in Norway in 2017, a year before his death.Hawking was not alone in this view. Many experts feel that the only way for humanity to last far into the future is to colonize other planets. That way, if an asteroid(小小小), a terrible disease, nuclear war, or some other disaster strikes Earth, civilization as we know it would still have a chance. Mars is one of the most tempting destinations. NASA, the United Arab Emirates, the private company SpaceX, and the organization Mars One all have plans to send humans there. “Either we spread Earth to other planets, or we risk going extinct, SpaceX founder Elon Musk said at a conference in 2013.But not everyone agrees that colonizing Mars or any other planet is such a great plan. The most common argument against going is that it’s just too expensive or dangerous. It will take huge amounts of money and other resources just to get people there, let alone set up a place for them to live. It’s not even clear if humans could survive on Mars. One of the biggest dangers there is deadly radiation that bombards the planet.Maybe all the time and money people would pour into a Mars mission would be better spent on more urgent projects here on Earth, like dealing with poverty or climate change. Some experts argue that handling a problem like an asteroid strike or disease outbreak while staying here on Earth would be much easier and less expensive than surviving on a new planet.In addition, moving to a new planet could harm or destroy anything that already lives there. Mars seems uninhabited, but it could possibly host microbial( 小小小小) life. Human visitors maydestroy this life or permanently change or damage the Martian environment. Some feel that’s too much of a risk to take.What do you think? Should humans colonize outer space or stay home?1.What can be inferred from the passage?A.Many experts insist that humans should take the risk.B.Mars is the most attractive destinations for human beings.C.Hawking firmly believes the only way to save humans is moving to Mars.D.All the other experts don’t agree with Hawking’s idea.2.Why do some experts disagree with the plan to colonize Mars?A.It will cost much more money to settle on Mars than on Earth.B.It is too long a distance from the Earth to the Mars.C.Human visitors will bring diseases to Martian environment.D.The deadly radiation that bombards the planet is the biggest danger.3.What’s the writing purpose of the passage?A.To raise people’s awareness of protecting the environment.B.To present different opinions on whether to move to the Mars.C.To arouse readers’ reflection on whether to colonize outer space.D.To inspire people to deal with the environmental problems.4.In which section of a magazine is the passage most likely from?A. Fiction.B. Current affairs.C. Social Studies.D. Science.（C）We use what is known as inner speech, where we talk to ourselves, to evaluate situations and make decisions. Now, a robot has been trained to speak aloud its inner decision-making process, giving us a view of how it responds to contradictory demands.Arianna Pipitone and Antonio Chella at the University of Palermo, Italy, programmed a humanoid robot named Pepper, with software that models human cognitive（认知的）processes, which allowed Pepper to retrieve （检索）relevant information from its memory and find the correct way to act based on human commands, as well as a text — to — speech processor. It allowed Pepper to voice its decision-making process while completing a task, "With inner speech,we can better understand what the robot wants to do and what its plan is," says Chella.The researchers asked Pepper to set a dinner table according to etiquette （礼仪）rules they had programmed into the robot. Inner speech was either enabled or disabled to see how it affected Pepper's ability to do what was instructed.When instructed to place a napkin on a fork with its inner speech enabled, Pepper asked itself what the etiquette required and concluded that this request went against the rules it had been given. It then asked the researchers if putting the napkin on the fork was the correct action. When told it was, Pepper said, “OK, I prefer to follow your desire," and explained how it was going to place the napkin on the fork.When asked to do the same task with inner speech disabled, Pepper knew this contradicted etiquette rules, so it didn't perform the task or explain why.With the potential for robots to become more common in the future, this type of programming could help the public understand their abilities and limitations, says Sarah Sebo at the University of Chicago. "It maintains people's trust and enables cooperation and interactions between humans and robots," she says. However, this experiment only used a single human participant, says Sebo. "It's unclear how their approach would compare across a wide range of human participants," she says.1. Why does the author mention how people make decisions in the first paragraph?A. To introduce the topic.B. To make comparisons.C. To provide an example.D. To support his argument.2. How did Pepper react to the contradictory instruction with its inner speech enabled?A. It failed to complete the task.B. It followed the etiquette rules.C. It made a random decision.D. It communicated with the researchers.3. What did Sarah Sebo think of the research?A. It was creative but worthless.B. It was a good try but the result was a failure.C. It was inspiring but needed further evidence.D. It was carefully designed but poorly performed.4. Which of the following is the best title for the text?A. Robot Taught To Be PoliteB. Robot Can Explain Its DecisionC. Robot Making Decisions: No Longer A DreamD. Robot-Human Communication: No Longer A Problem（D）Researchers have found that most shy children,even the most painfully shy of them,are not shy adults.The process from shy to outgoing does not require treatment,behavior modification（矫正）or any extraordinary measures. It just happens.Most shy kids grow out of their shyness by their young adult years,and even those who do not get rid of it manage to cope with it reasonably well. They learn how to hide it,mostly because they realize that shyness puts them at a disadvantage in certain situations.I myself am a living example to the transformation.I was socially awkward until I went to college where I tried out for the role of a lead singer in a rock band and suddenly found myself on stage with four musicians behind me and hundreds of people in front of me. My social awkwardness didn't go away until I was forced to make a choice between shyness or being a campus rock star. That's a no-brainer for an 18-year-old. I had to cure myself of my lifelong shyness, and I did.But this article is not really about childhood shyness. It's about the distinction between a child's personality and behavior. Personality is just like a surface upon which an artist begins a painting. If the artist doesn't like the way his painting is progressing, he can paint over what he's done, but the surface remains as it was at the beginning-a constant (恒量）。
机器人自主感知与认知研究
机器人自主感知与认知研究随着科技的发展，机器人已经渐渐地走入人们的生活中。
机器人一直是科学家们研究的热点之一。
近年来，机器人已经开始自主感知和认知，不再仅仅是按照人类的指令进行操作，而是通过自身的感知和认知能力，进行自主决策和行动。
本文将围绕机器人自主感知与认知展开探讨，分为以下四个部分：定义与分类、感知能力、认知能力和未来展望。
一、定义与分类机器人自主感知可以定义为机器人自主获取外部环境信息的能力，包括机器人自主感知周围环境的物体、声音、光照等，以及对这些信息的处理和分析。
而机器人自主认知则是机器人根据对外部环境的感知信息进行自主决策和行动的能力。
机器人自主感知与认知不仅可以提高机器人的智能水平，也可以使机器人更加灵活地应对不同场景，同时还可以提高机器人与人类的交互性，改善人机交互体验。
根据机器人的不同功能和应用场景，可以将机器人分为不同的类别。
一般而言，机器人主要分为工业机器人、军事机器人、医疗机器人、服务机器人、家庭机器人等。
不同种类的机器人的自主感知和认知能力也有所不同。
二、感知能力机器人的自主感知能力是实现机器人自主认知的基础。
机器人的感知能力主要包括视觉感知、听觉感知、触觉感知、GPS定位等。
具体地说，机器人的视觉感知能力可以通过摄像头等装置来实现。
机器人可以通过图像识别技术和计算机视觉技术，对周围的物体、颜色、形状等信息进行感知和分析。
这一技术已经在很多领域得到了广泛的应用，如智能家居、智能安防、智能导航等。
机器人的听觉感知能力可以通过麦克风等装置来实现。
机器人通过声音探测和语音识别技术，可以对环境中的声音和语音进行感知和分析。
这一技术已经在智能助手和智能音箱等领域得到了广泛应用。
机器人的触觉感知能力可以通过接触传感器等装置来实现。
机器人可以通过接触传感器感知周围环境的物体的硬度、粗糙度等信息，从而实现对物体的识别和判断。
这一技术已经在医疗机器人、工业机器人等领域得到了广泛应用。
机器人的GPS定位是实现机器人自主移动的关键技术。
对工业机器人的了解和认识
对工业机器人的了解和认识工业机器人是一种具有高度智能化和自主性的现代化机器人。
它们能够在工业生产线上完成各种繁重、危险和重复性的工作任务，从而提高生产效率和质量，降低生产成本。
在本文中，我们将全面了解和认识工业机器人的基本概念、应用领域、工作原理以及发展趋势。
一、工业机器人的基本概念工业机器人是一种由电子技术、计算机技术以及机械工程技术等多种技术综合应用于制造业领域的机器人。
它们被设计用于代替人力完成工厂生产过程中的重复性、繁重或危险的任务，如车间装配、焊接、搬运、喷涂等。
工业机器人具备自主感知、决策和执行能力，能够根据预先设定的程序和条件自动执行任务。
二、工业机器人的应用领域工业机器人在许多制造业领域都有广泛的应用。
首先是汽车制造业，工业机器人在汽车生产线上扮演着重要的角色。
它们能够完成汽车零部件的组装、焊接、喷涂等工作，提高生产效率和产品质量。
其次是电子制造业，工业机器人在电子产品的生产过程中发挥着关键作用，如电路板组装和焊接。
此外，工业机器人还在食品加工、医药制造、塑料制品等领域得到广泛应用。
三、工业机器人的工作原理工业机器人通过感知、决策和执行三个关键步骤完成工作任务。
首先，它们通过传感器感知周围的环境和目标物体，获取必要的信息。
然后，机器人根据预先编写的程序和算法进行决策，确定如何执行任务。
最后，机器人根据决策结果，通过运动控制系统驱动执行器，完成任务。
四、工业机器人的发展趋势随着科学技术的进步和工业生产的要求，工业机器人正不断发展和演进。
首先，人机协作成为了一个重要的发展趋势，机器人能够与人类工作人员在同一工作区域内共同完成任务。
其次，机器人的智能化程度不断提高，能够通过学习和适应不同的工作环境和任务要求。
此外，机器人的柔性化和模块化设计也是未来发展的重点，能够满足不同生产情况下的需求。
综上所述，工业机器人是一种能够自主执行工作任务的现代化机器人。
它们在各个制造业领域都有广泛的应用，能够提高生产效率和产品质量。
谈谈你对机器人的认识【精选文档】
认识机器人机器人的发展史：认识机器人首先先了解下robot机器人这一词是怎么来的。
1920年捷克作家卡雷尔·卡佩克发表了科幻剧本《罗萨姆的万能机器人》.在剧本中，卡佩克把捷克语“Robota”写成了“Robot”,“Robota"是奴隶的意思.该剧预告了机器人的发展对人类社会的悲剧性影响,引起了大家的广泛关注，被当成了机器人一词的起源。
从此，“robot"以及相对应的中文“机器人”一词开始在全世界流行。
上个世纪60年代前后,随着微电子学和计算机技术的迅速发展，自动化技术也取得了飞跃性的变化，开始出现了现在普遍意义上的机器人.1959年，美国英格伯格和德沃尔制造出世界上第一台工业机器人，取名“尤尼梅逊”，意为“万能自动”.尤尼梅逊的样子像一个坦克炮塔,炮塔上伸出一条大机械臂，大机械臂上又接着一条小机械臂，小机械臂再安装着一个操作器。
这三部分都可以相对转动、伸缩，很像是人的手臂了.它的发明人专门研究了运动机构与控制信号的关系,编制出程序让机器记住并模仿、重复进行某种动作。
英格伯格和德沃尔认为汽车制造过程比较固定，适合用这样的机器人。
于是，这台世界上第一个真正意义上的机器人,就应用在了汽车制造生产中。
经过近百年来的发展，机器人已经在很多领域中取得了巨大的应用成绩，其种类也不胜枚举，几乎各个高精尖端的技术领域更是少不了它们的身影。
在这期间，机器人的成长经历了三个阶段.第一个阶段中,机器人只能根据事先编好的程序来工作，这时它好像只有干活儿的手，不懂得如何处理外界的信息。
打个比方，如果让这样的机器人去抓会损坏它的东西，它也一定会去做。
第二个阶段中,机器人好像有了感觉神经，具有了触觉、视觉、听觉、力觉等功能，这使得它可以根据外界的不同信息做出相应的反馈。
如果再让它去抓某些东西,它可能就不干啦。
第三个阶段，机器就真正长大成人啦，这时它不仅具有多种技能,能够感知外面的世界，而且它还能够不断自我学习,用自己的思维来决策该做什么和怎样去做。
人工智能机器人的认知能力提升
人工智能机器人的认知能力提升人工智能（AI）机器人的出现和快速发展使得我们离智能生活越来越近。
在过去的几十年里，人们对机器人的认知能力不断进行改进，以便使其更接近于人类的认知水平。
本文将探讨人工智能机器人的认知能力提升，并分析其中的挑战和应用。
一、认知能力的重要性认知能力是指机器人通过感知、理解、学习和决策等过程来获取和应用知识的能力。
它是实现人工智能智能化的关键因素。
只有机器人具备了认知能力，才能更好地与人类进行交互，理解人类的需求并做出符合人类期望的回应。
二、挑战与解决方案1. 感知能力的提升感知是机器人获取外界信息的基础，但目前的感知技术还存在一定的局限性。
为了提升感知能力，可以结合先进的传感器技术、深度学习和数据挖掘等方法，从而使机器人能够更准确地感知环境和人类行为。
2. 知识表示与推理机器人在获取知识之后，需要将其有效地表示和进行推理。
常用的方法包括本体论、图谱和语义网络等。
这些方法可以帮助机器人实现知识的组织和推理，从而更好地应对复杂的问题和场景。
3. 学习能力的提高机器人的学习能力是指其通过数据和经验不断改进和优化自身的能力。
为了提高学习能力，可以采用增强学习、迁移学习和自适应学习等方法。
通过这些方法，机器人可以从不断的实践中积累经验，并逐步完善自己的认知模型。
三、应用案例与前景展望1. 个人助理机器人个人助理机器人是指能够理解和执行个人需求的机器人。
通过不断的学习和认知能力提升，个人助理机器人可以更好地理解人类的语言和情感，并为人们提供个性化的服务和建议。
2. 智能驾驶车辆智能驾驶车辆是利用人工智能技术实现自动驾驶的汽车。
通过提升机器人的认知能力，例如更好地感知和理解交通情况，智能驾驶车辆可以提高交通安全性和驾驶效率。
3. 医疗机器人医疗机器人可以协助医生进行手术、提供远程诊断和治疗等服务。
通过提升认知能力，机器人可以更准确地理解医学知识和患者需求，从而提供更高效和精确的医疗服务。
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Bat Simulation Results
Lessoned learned
▪ The bat’s ear shape in combination with the frequency of its scream determines the direction in which it is listening
▪ Morphing Production Lines
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D. Christensen, D. Brandt, University of Southern Denmark
Other Self-Reconfigurable Robots
M-TRAN, Distributed System Design Research Group, Intelligent Systems Institute, AIST
CONRO, Polymorphic Robotics Lab, Information Sciences Institute, USC
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x4
The ATRON robot, D. Brandt and D. Christensen, University of Southern Denmark
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USC’s ISI
Robust vs Fragile
▪ Difficult to detect if a module has failed ▪ Due to motion constraints it is difficult to eject the failed
Task-Optimized vs Stereotypical Tasks
▪ Task-optimized
▪ Body
▪ Task-optimized
Example: Body-Brain in Nature
▪ Why do bat ears have different shapes?
Example and graphics provided by Ralf Müller (CIRCE EU project, University of Southern Denmark)
▪ Prototyping mechanics and electronics is
▪ Time-consuming ▪ Expensive ▪ Requires skilled people
▪ A task-optimized body is rarely versatile ▪ Something else is needed..
▪ Modular robots may make it easier to find a balance between body and brain
Shape-Changing Modular Robots
▪ If robots can change shape autonomously
▪ Continually task-optimizing body ▪ Versatility ▪ Robustness (impact and self-repair) ▪ Cheap?
▪ Scalability ▪ Robustness
The State of Self-Reconfigurable Robots
▪ Vision
▪ Versatile ▪ Robust ▪ Cheap ▪ Task-Optimized
▪ Reality?
▪ Useless ▪ Fragile ▪ Expensive ▪ Stereotypical tasks
Versatile vs useless
▪ In practice motion constraints make it difficult to change shape
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Brain-Body Relationship in Robotics
▪ Brain (controller)
▪ Task-optimized
▪ Body (hardware)
▪ General-purpose*
*) to a large extend
Body-Brain in Nature
▪ Brain
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Cognitive Robot
Kasper Stoy The Maersk McKinney Moller Institute
University of Southern Denmark
kaspers@mmmi.sdu.dk
Overview
▪ The body-brain relationship in cognition ▪ Modular robots as cognitive bodies ▪ Self-reconfigurable robots ▪ Deformable modular robots ▪ Hierarchical robots ▪ Conclusion
Self-Reconfigurable Robots
Self-Reconfigurable Robots
▪ Modular robots that can change shape by automatically rearranging the way modules are connected
Bat Ears
1. Bat ears cut off and digitized 2. Interaction between sound waves
and ear analyzed in simulation 3. Robot bat built to verify and use
results
module ▪ Due to weakness of modules it may not be possible to eject
the failed module at all
Cheap vs Expensive
▪ ATRON $2000 ▪ MTRAN $3500 ▪ ….
Real Tasks vs Stereotypical Tasks
▪ The physical structure of the bats ear does some “processing” for its brain
▪ The body of the bat aids cognition
Body-Brain in Robots
▪ We have a choice of where to implement intelligence
M-TRAN, AIST
Versatile vs useless
Start
D. Brandt, University of Southern Denmark
Goal
Versatile vs useless
▪ Too weak to interact with the world
▪ The ATRON and the M-TRAN robots can only lift in the order of a few modules
Brain
Body
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Asimov, Honda
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Versatile vs Useless
▪ A self-reconfigurable robot can change into any shape needed for the task
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Software Challenge
▪ Control a swarm robot where
▪ Individual modules are physically coupled ▪ The connection topology is dynamic
▪ Preferable control should be distributed to allow
▪ Connection mechanisms ▪ Infra-red communication (with neighbours) ▪ Actuation (rotate one half sphere with respect to the other) ▪ Onboard batteries ▪ Processing power ▪ short-range sensors (infra-red) ▪ ...