Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Autonomous Robots
Self-Organization in Biological Systems
Self-Organization in Biological Systems
Discrete Bee Dance Algorithms for Pattern Formation on a Grid
IAT '03 Proceedings of the IEEE/WIC International Conference on Intelligent Agent Technology
Distributed, Physics-Based Control of Swarms of Vehicles
Autonomous Robots
Biologically-inspired self-assembly of two-dimensional shapes using global-to-local compilation
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Interdisciplinary Research: Roles for Self-Organization
IEEE Intelligent Systems
A scalable and distributed model for self-organization and self-healing
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 3
2-Dimensional cellular automata approach for robot grid formations
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Vision-based leader-follower formations with limited information
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A systems approach to evolutionary multiobjective structural optimization and beyond
IEEE Computational Intelligence Magazine
Scalable self-assembly and self-repair in a collective of robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A distributed formation algorithm to organize agents with no coordinate agreement
ECAL'07 Proceedings of the 9th European conference on Advances in artificial life
Infrastructureless storage in dynamic environments
Proceedings of the 2010 ACM Symposium on Applied Computing
Application notes: robust morphogenesis of robotic swarms
IEEE Computational Intelligence Magazine
Infrastructureless Spatial Storage Algorithms
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
ALPS - Adaptive Location-based Publish/Subscribe
Computer Networks: The International Journal of Computer and Telecommunications Networking
A morphogenetic approach to flexible and robust shape formation for swarm robotic systems
Robotics and Autonomous Systems
Abstracting context in event-based software
Transactions on Aspect-Oriented Software Development IX
Description and composition of bio-inspired design patterns: a complete overview
Natural Computing: an international journal
Mitigating multi-path fading in a mobile mesh network
Ad Hoc Networks
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We describe a decentralized algorithm for coordinating a swarm of identically-programmed mobile agents to spatially self-aggregate into arbitrary shapes using only local interactions. Our approach, called SHAPEBUGS, generates a consensus coordinate system by agents continually performing local trilaterations, and achieves shape formation by simultaneously allowing agents to disperse within the defined 2D shape using a Contained Gas Model. This approach has several novel features (1) agents can easily aggregate into arbitrary user-specified shapes, using a formation process that is independent of the number of agents (2) the system automatically adapts to influx and death of agents, as well as accidental displacement. We show that the consensus coordinate system is robust and provides reasonable accuracy in the face of significant sensor and movement error.