Robotics and Autonomous Systems
A geometric approach to deploying robot swarms
Annals of Mathematics and Artificial Intelligence
Adaptive triangular mesh generation of self-configuring robot swarms
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Swarm formation control utilizing elliptical surfaces and limiting functions
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Self-configuring robot swarms with dual rotating infrared sensors
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A distributed formation algorithm to organize agents with no coordinate agreement
ECAL'07 Proceedings of the 9th European conference on Advances in artificial life
Parsimonious rule generation for a nature-inspired approach to self-assembly
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Towards a theory of self-organization
OPODIS'05 Proceedings of the 9th international conference on Principles of Distributed Systems
Adaptive group formation in multirobot systems
Advances in Artificial Intelligence
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In this paper, we propose a novel method of self-organizing formation. It is assumed that elements are not connected to each other, and they can move in continuous space. Theobjective is to arrange elements in certain spatial pattern like a crystal, and to make the outline of the group in desired shape. For this purpose, we proposed a method by using virtual springs among the elements. In this algorithm, an element generates virtual springs between neighbor element based on information how many other elements exist in neighborhood with a certain radius. Although the elements interact locally only by virtual springs, and they don't have global information at all, they form a shape much larger than the sensory radius. By simulation study, we confirmed convergence to a target shape from a random state in very high probability. This kind of algorithm gives a new principle of self-organizing formation, and its simplicity will be useful for design of self-assembling nano machines in future.