3 documents found, page 1 of 1
SWARMORPH: Multirobot Morphogenesis Using Directional Self-Assembly
O'Grady, Rehan; Christensen, Anders Lyhne; Dorigo, MarcoIn this paper, we propose SWARMORPH: a distributed morphology generation mechanism for autonomous self-assembling mobile robots. Self-organized growth of global morphological structures emerges through the repeated application of local morphology extension rules. We present details of the directional self-assembly mechanism that provides control over the orientation of interrobot connections. We conduct real-wo...
Evolving Self-Assembly in Autonomous Homogeneous Robots: Experiments with Two P...
Ampatzis, Christos; Tuci, Elio; Trianni, Vito; Christensen, Anders Lyhne; Dorigo, MarcoThis research work illustrates an approach to the design of controllers for self-assembling robots in which the self-assembly is initiated and regulated by perceptual cues that are brought forth by the physical robots through their dynamical interactions. More specifically, we present a homogeneous control system that can achieve assembly between two modules (two fully autonomous robots) of a mobile self-reconf...
From Fireflies to Fault-Tolerant Swarms of Robots
Christensen, Anders Lyhne; O'Grady, Rehan; Dorigo, MarcoOne of the essential benefits of swarm robotic systems is redundancy. In case one robot breaks down, another robot can take steps to repair the failed robot or take over the failed robot's task. Although fault tolerance and robustness to individual failures have often been central arguments in favor of swarm robotic systems, few studies have been dedicated to the subject. In this paper, we take inspiration from...