Autonomous morphogenesis in self-assembling robots using IR-based sensing and local communications
Liu, W. and Winfield, A. F. (2010) Autonomous morphogenesis in self-assembling robots using IR-based sensing and local communications. In: Dorigo, M. , Birattari, M. , Di Caro, G. , Doursat, René, Engelbrecht, A. , Floreano, D. , Gambardella, L. , Groß, R. , Sahin, E. , Sayama, H. and Stützle, T. , eds. (2010) Swarm Intelligence. (6234) Springer Berlin / Heidelberg, pp. 107-118.
Publisher's URL: http://dx.doi.org/10.1007/978-3-642-15461-4_10
This paper presents a simple decentralised morphology control mechanism for a swarm of self-assembling robots. Each robot in the system is fully autonomous and controlled using a behaviour-based approach with only infrared-based local sensing and communications. A graph-based recruitment strategy is proposed to guide the growth of 2D planar organisms, and local communications are used to self-organise the behaviours of robots during the morphogenesis process. The effectiveness of the approach has been verified, in simulation, for a diverse set of target structures.
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