Stability analysis of social foraging swarms
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Adaptive triangular mesh generation of self-configuring robot swarms
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Self-configuring robot swarms with dual rotating infrared sensors
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Automatica (Journal of IFAC)
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The process of protein crystallization is explained using the theory of robotics, particularly path planning of mobile robots. Path planning is a procedure which specifies motion trajectories of multiple mobile robots to form a robotic team with a desired pattern. Since protein crystals consist of a large number of protein molecules which come together to form a 3D lattice of uniform structure, it is hypothesized that each protein behaves like a mobile robot and takes adequate path to form a robotic team (crystal). Based on this hypothesis, it is shown that trajectories of the proteins should be simple and local, which generates three rules of motion for the protein robots, i.e., (a) each protein searches for its nearest neighbor, (b) each protein takes the shortest path to approach the nearest neighbor, and (c) multiple proteins may form a sub-team of proteins. It is then proven mathematically that the planned path according to the three rules is stable and able to crystallize the proteins. Interaction forces at the molecular level are analyzed to show that the simple and local motion of the proteins is physically warranted. Computer simulation and experimental results are presented to validate the new theory.