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ECAL
2005
Springer

Self-assembly on Demand in a Group of Physical Autonomous Mobile Robots Navigating Rough Terrain

8 years 9 months ago
Self-assembly on Demand in a Group of Physical Autonomous Mobile Robots Navigating Rough Terrain
Consider a group of autonomous, mobile robots with the ability to physically connect to one another (self-assemble). The group is said to exhibit functional self-assembly if the robots can choose to selfassemble in response to the demands of their task and environment [15]. We present the first robotic controller capable of functional self-assembly implemented on a real robotic platform. The task we consider requires a group of robots to navigate over an area of unknown terrain towards a target light source. If possible, the robots should navigate to the target independently. If, however, the terrain proves too difficult for a single robot, the robots should self-assemble into a larger group entity and collectively navigate to the target. We believe this to be one of the most complex tasks carried out to date by a team of physical autonomous robots. We present quantitative results confirming the efficacy of our controller. This puts our robotic system at the cutting edge of autonomou...
Rehan O'Grady, Roderich Groß, Francesco Mond
Added 27 Jun 2010
Updated 27 Jun 2010
Type Conference
Year 2005
Where ECAL
Authors Rehan O'Grady, Roderich Groß, Francesco Mondada, Michael Bonani, Marco Dorigo
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