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IROS
2008
IEEE

A scalable and distributed approach for self-assembly and self-healing of a differentiated shape

9 years 3 months ago
A scalable and distributed approach for self-assembly and self-healing of a differentiated shape
— As the ability to produce a large number of small, simple robotic agents improves, it becomes essential to control the behavior of these robots in such a way that the sum of their actions gives rise to the desired overall result. These robots are modeled as homogeneous, distributed robots, with only one simple short range sensor. Our simple robots are tasked to form and hold a desired swarm shape, independent of the total number of agents. If this shape is damaged by the removal of some of the robots, the remaining agents will recover the former shape, but on a smaller scale. These shapes can also have a pattern such as a picture or drawing displayed on them by controlling the individual robots color, symbolically representing the differentiation of agents within the swarm. This pattern will resize to fit the existing swarm. With the ability to synchronize in time, the swarm gains the ability to change the pattern displayed, resulting in a moving image.
Michael Rubenstein, Wei-Min Shen
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Michael Rubenstein, Wei-Min Shen
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