Self-assembly in heterogeneous modular robots

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Liu, W. and Winfield, A. F. (2012) Self-assembly in heterogeneous modular robots. In: International Symposium on Distributed Autonomous Robotic Systems (DARS2012), Baltimore, Maryland, USA, 8-11th November, 2012. Available from:

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This paper describes the distributed self-assembly of a multi-robot ‘organism’ from a swarm of autonomous heterogeneous modular mobile robots. A distributed self-assembly strategy based on a symbol sequence representation is proposed. Constructed from a tree representation of an organism, the symbol sequence is presented as a well organised nested structure in a compact format. It includes not only information on the topology of the organism but also how the organism will be self-assembled. The proposed approach has been tested with real robot prototypes. Results show that robots can successfully self-assemble to required target body plans within certain time frames.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: swarm robotics, self-assembly, modular robots
Faculty/Department: Faculty of Environment and Technology > Department of Engineering Design and Mathematics
Depositing User: Dr W. Liu
Date Deposited: 08 Aug 2013 09:25
Last Modified: 04 Dec 2016 21:10


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