Sensing-based shape formation on modular multi-robot systems: a theoretical study
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
Self-adapting modular robotics: a generalized distributed consensus framework
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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In nature, animal groups achieve robustness and scalability with each individual executes a simple and adaptive strategy. Inspired by this phenomenon, we propose a decentralized control framework for modular robots to achieve coordinated and self-adaptive tasks with each modules performs simple distributed sensing and actuation [1]. In this demonstration, we show that such a framework allows several different modular robotic systems to achieve self-adaptation tasks scalably and robustly, examples tasks include module-formed table and bridge that adapt to constantly-perturbed environment, a 3D relief display that renders sophisticated objects, and a tetrahedral robot that performs adaptive locomotion.