SWARMORPH: multirobot morphogenesis using directional self-assembly

Authors:
Rehan O’Grady;Anders Lyhne Christensen;Marco Dorigo
Affiliations:
Computer and Decision Engineering Department, Institut de Recherches Interdisciplinaires et de Développements en Intelligence Artificielle, Université Libre de Bruxelles, Brussels, Belgi ...;Departamento de Ciências e Tecnologias da Informação, Lisbon University Institute, Lisbon, Portugal;Computer and Decision Engineering Department, Institut de Recherches Interdisciplinaires et de Développements en Intelligence Artificielle, Université Libre de Bruxelles, Brussels, Belgi ...
Venue:
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Year:
2009

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Abstract

In 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 realworld experiments to validate the low-level directional self-assembly mechanism and the growth of global morphologies. We demonstrate the scalability of the approach with large numbers of robots in simulation-based experiments.