Simulated vs Actual Application of Symbiotic Model on Six Wheel Modular Multi-Agent System for Linear Traversal Mission

Constant demand for sustainable mechanisms to per-form heavy and risky tasks has driven more robotics innovations to arise. Modular reconfigurable robotics system is one of these promising technologies that are continuously explored. Homogeneous types, to be spe-cific, can accomplish similar missions at the same time as individual and heavier missions as an integrated sys-tem. This paper presents an analysis of the carrying ca-pacity of a six-wheeled modular multi-agent system us-ing the symbiotic model. The objective is to determine the resulting symbiotic relationship of a given config-uration and module state combinations. The results show that the dominant relationship among the trials for linear traversal mission is commensalism. That means, the system neither benefits nor gets harmed from the symbiosis formed. This is true both in simulated and actual test environments although the per-centage difference is about 12%. MATLAB Simulink was used for simulation while Maqueen robot in a 3D-printed chassis was used for actual testing. With this study, future configurations for several other missions such as object tracking and ramp climbing can be assessed using the same approach so that possible fault occurrence during operations can be prevented since the developed analysis method is performed prior to the deployment of the system.