Decentralized Control of Distributed Manipulators: An Information Diffusion Approach.

is paper introduces a self-organizing decentralized controller employing an information diffusion mechanism to govern the behavior
of surface-based distributed manipulators. These systems utilize
independently controlled actuators arranged in a grid for precise
positioning and orientation of objects. The proposed approach is
demonstrated in a simulated virtual environment with a generic
distributed manipulator. The system’s self-organization capabilities
are evaluated through experiments involving objects of varying
sizes and shapes. The results show the robustness, fault tolerance,
and performance of the system. The approach’s high level of abstraction makes it versatile for different actuation principles and
sensing devices, focusing on the essential information and module
capabilities needed for the task.