Swarm intelligence: from natural to artificial systems
Swarm intelligence: from natural to artificial systems
Hormone-based control for self-reconfigurable robots
AGENTS '00 Proceedings of the fourth international conference on Autonomous agents
Representations for Rigid Solids: Theory, Methods, and Systems
ACM Computing Surveys (CSUR)
Programmable self-assembly using biologically-inspired multiagent control
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 1
Finite Automata, Their Algebras and Grammars
Finite Automata, Their Algebras and Grammars
Guest Editorial: Self-Reconfigurable Robots
Autonomous Robots
Universal Self-Replication Using Graph Grammars
ICMENS '04 Proceedings of the 2004 International Conference on MEMS, NANO and Smart Systems
Theory of Self-Reproducing Automata
Theory of Self-Reproducing Automata
Anthills built to order: automating construction with artificial swarms
Anthills built to order: automating construction with artificial swarms
Self-assembly and self-repair by robot swarms
Self-assembly and self-repair by robot swarms
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
Algorithm for computer control of a digital plotter
IBM Systems Journal
An empirical study of the performance of active self-assembly
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Proceedings of the 2004 international conference on Swarm Robotics
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
Evolved and Designed Self-Reproducing Modular Robotics
IEEE Transactions on Robotics
Morphologies of self-organizing swarms in 3D swarm chemistry
Proceedings of the 14th annual conference on Genetic and evolutionary computation
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Self-assembly of active, robotic agents, rather than of passive agents such as molecules, is an emerging research field that is attracting increasing attention. Active self-assembly techniques are especially attractive at very small spatial scales, where alternative construction methods are unavailable or have severe limitations. Building nanostructures by using swarms of very simple nanorobots is a promising approach for manufacturing nanoscale devices and systems.The method described in this paper allows a group of simple, physically identical, identically programmed and reactive (i.e., stateless) agents to construct and repair polygonal approximations to arbitrary structures in the plane. The distributed algorithms presented here are tolerant of robot failures and of externally-induced disturbances. The structures are self-healing, and self-replicating in a weak sense. Their components can be re-used once the structures are no longer needed. A specification of vertices at relative positions, and the edges between them, is translated by a compiler into reactive rules for assembly agents. These rules lead to the construction and repair of the specified shape. Simulation results are presented, which validate the proposed algorithms.