Distributed autonomous morphogenesis in a self-assembling robotic system

Liu, W. and Winfield, A. F. (2012) Distributed autonomous morphogenesis in a self-assembling robotic system. In: Doursat, René, Sayama, H. and Michel, O., eds. (2012) Morphogenetic Engineering: Understanding Complex Systems. Springer, pp. 89-113. ISBN 9783642339011 Available from: http://eprints.uwe.ac.uk/20926


Publisher's URL: http://link.springer.com/chapter/10.1007/978-3-642...


We present distributed morphogenesis control strategies in a swarm of robots able to autonomously assemble into 3D symbiotic organisms to perform specific tasks. Each robot in such a system can work autonomously, while teams of robots can self-assemble into various morphologies when required. The idea is to combine the advantages of swarm and self-reconfigurable robotic systems in order to investigate and develop novel principles of development and adaptation for “robotic organisms”, from bio-inspired and evolutionary perspectives. Unlike other modular self-reconfigurable robotic systems, individual robots here are independently mobile and can autonomously dock to each other. The goal is that the robots initially form a certain 2D planar structure and, based on their positions in the body plan, the aggregated “organism” should lift itself to form a 3D configuration, then move and function as a macroscopic whole. It should also be able to disassemble and reassemble into different morphologies to fulfil certain task requirements.

Item Type:Book Section
Additional Information:rene.doursatdrexel.edu, sayama@binghamton.edu, olivier.michel@u-pec.fr
Uncontrolled Keywords:swarm robotics, self-assembly, modular robots
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:20926
Deposited By: Dr W. Liu
Deposited On:08 Aug 2013 09:14
Last Modified:27 Sep 2016 06:51

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