Principles of intermodular docking of the group mobile robotic systems

One of the important tasks in organizing the group (swarm) mobile modular robotic systems lies in design and development of the simple and reliable reusable systems for docking/undocking the modules. Depending on the docking system operation, such systems could be single-use or reusable and provide the connection automatic docking/undocking upon command from the control system. Besides, the docking/undocking systems could be semi-automatic, when the modules mobility is additionally used. If necessary, the modules’ docking/undocking operation modules could be carried out manually by an operator or a manipulator to simplify the robotic systems. In all cases, the connection unit after docking should provide high rigidity and exclude uncontrolled mobility of the elements being docked. In this regard, selection of basic types of the docking/undocking systems for the mobile modular robots combined into the active group structures is an urgent task. The paper provides an overview of known principles and devices that could be introduced in the modular mobile robots docking; their classification is presented. Docking devices are comparatively analyzed. Basic samples for solving the group problems are recommended. The paper presents new original systems for the module docking units with formation of group structures for various applications. The presented systems for docking/undocking the modular mobile robots are making it possible to create group (swarm) active multifunctional robotic structures capable of solving various problems in the extreme and a priori uncertain conditions.
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