Autonomous morphogenesis in self-assembling robots using IR-based sensing and local communications

Authors:
Wenguo Liu;Alan F. T. Winfield
Affiliations:
Bristol Robotics Laboratory, University of the West of England, Bristol, UK;Bristol Robotics Laboratory, University of the West of England, Bristol, UK
Venue:
ANTS'10 Proceedings of the 7th international conference on Swarm intelligence
Year:
2010

Citing 3
Cited 2

Automated design of distributed control rules for the self-assembly of prespecified artificial structures

Robotics and Autonomous Systems
Evolutionary robotics: the next-generation-platform for on-line and on-board artificial evolution

CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
Symbiotic Multi-Robot Organisms: Reliability, Adaptability, Evolution

Symbiotic Multi-Robot Organisms: Reliability, Adaptability, Evolution

Morphologies of self-organizing swarms in 3D swarm chemistry

Proceedings of the 14th annual conference on Genetic and evolutionary computation
Supervised morphogenesis: morphology control of ground-based self-assembling robots by aerial robots

Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 1

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper presents a simple decentralised morphology control mechanism for a swarm of self-assembling robots. Each robot in the system is fully autonomous and controlled using a behaviour-based approach with only infrared-based local sensing and communications. A graph-based recruitment strategy is proposed to guide the growth of 2D planar organisms, and local communications are used to self-organise the behaviours of robots during the morphogenesis process. The effectiveness of the approach has been verified, in simulation, for a diverse set of target structures.