L-system-driven self-assembly for swarm robotics

Authors:
Fidel Aznar;Mar Pujol;Ramón Rizo
Affiliations:
Departamento de Ciencia de la Computación e Inteligencia Artificial, Universidad de Alicante;Departamento de Ciencia de la Computación e Inteligencia Artificial, Universidad de Alicante;Departamento de Ciencia de la Computación e Inteligencia Artificial, Universidad de Alicante
Venue:
CAEPIA'11 Proceedings of the 14th international conference on Advances in artificial intelligence: spanish association for artificial intelligence
Year:
2011

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Abstract

In this paper, an assembly swarm algorithm, that will generate microscopic rules from a macroscopic description of complex structures, will be presented. The global structure will be described in a formal way using L-systems (Lindenmayer systems). The proposed algorithm is mainly parallel and exhibit parsimony at microscopic level, being robust and adaptable. In addition, a comparation between a swarm with centralized control and our distributed swarm algorithm will be provided, comparing the time need by the swarm to be assembled and the number of messages exchanged between agents.