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This paper describes an extension of the flexible transfer system (FTS) with self-reconfigurability of the physical modular configuration. The FTS is a modular type of two-dimensional transfer system, and can take an arbitrary fixed configuration by manual deployment of modules. A decentralized control we previously proposed for the FTS can generate feasible transfer paths with the adaptability to environmental changes, but the fixed modular configuration causes the limited adaptability. This paper proposes a self-reconfigurable flexible transfer system (SRFTS) and the module reconfiguration method, and addresses the coevolution of the physical configuration and the control strategy. The SRFTS overcomes the drawback in the conventional FTS, and improves the transfer performance and the fault tolerance. The effectiveness of the SRFTS is illustrated by numerical simulations.

Coevolution of Physical Configuration and Control Strategy on A Self-Reconfigurable Modular Type of Two-Dimensional Transfer System