A survey of curve and surface methods in CAGD
Computer Aided Geometric Design
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
RoSe - A framework for multicast communication via unreliable networks in multi-robot systems
Robotics and Autonomous Systems
Robust and self-repairing formation control for swarms of mobile agents
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 1
Robustness Analysis and Failure Recovery of a Bio-Inspired Self-Organizing Multi-Robot System
SASO '09 Proceedings of the 2009 Third IEEE International Conference on Self-Adaptive and Self-Organizing Systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Cellular ants: A method to create collision free trajectories for a cooperative robot team
Robotics and Autonomous Systems
Morphogenetic Robotics: An Emerging New Field in Developmental Robotics
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
A fast and elitist multiobjective genetic algorithm: NSGA-II
IEEE Transactions on Evolutionary Computation
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Robotics and Autonomous Systems
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Embryonic development of multi-cellular organisms is governed by gene regulatory networks (GRNs), which are a collection of genes that interact with one another and with other chemicals in the cell. Inspired by the morphogenesis of biological organisms, in this paper, we propose a morphogenetic approach using a gene regulatory network (GRN) for swarm robotic systems to form complex shapes in a distributed manner. The target pattern, represented by non-uniform rational B-spline (NURBS), is embedded into the gene regulatory model, analogous to the morphogen gradients in multi-cellular development. Since the total number of robots is unknown to each robot, a dynamic neighborhood adaptation mechanism is proposed to evenly deploy the robots on the boundary of the target pattern. A theoretical proof of the system convergence is provided. Various simulation studies demonstrate that the proposed algorithm offers an effective and robust distributed control mechanism for swarm robotic systems to construct complex shapes. Furthermore, proof-of-concept experiments were successfully undertaken using e-puck mobile robots, which demonstrate that the proposed model works well with physical constraints of real robots.