Implementation of Distributed Mosaic Formation and Object Detection in Modular Robotic Systems

In reconfigurable modular robotics, when robot modules joins to form a robotic organism, they create a dis- tributed processing environment in a unified system. This research builds on the efficient use of these dis- tributed processing resources and presents the manner these resources can be utilised to implement distributed mosaic formation and object detection within the organism. The generation of mosaics provides surrounding awareness to the organism and helps it to localise itself with reference to the objects in the mosaics. Whereas, the detection of objects in the mosaic helps in identifying parts of the mosaic which needed processing.