SWARMORPH: Multirobot Morphogenesis Using Directional Self-Assembly
In this paper, we propose SWARMORPH: a distributed morphology generation mechanism for autonomous self-assembling mobile robots. Self-organized growth of global morphological structures emerges through the repeated application of local morphology extension rules. We present details of the directiona...
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| Outros Autores: | , |
| Formato: | article |
| Idioma: | eng |
| Publicado em: |
2013
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| Assuntos: | |
| Texto completo: | http://hdl.handle.net/10071/5440 |
| País: | Portugal |
| Oai: | oai:repositorio.iscte-iul.pt:10071/5440 |
| Resumo: | In this paper, we propose SWARMORPH: a distributed morphology generation mechanism for autonomous self-assembling mobile robots. Self-organized growth of global morphological structures emerges through the repeated application of local morphology extension rules. We present details of the directional self-assembly mechanism that provides control over the orientation of interrobot connections. We conduct real-world experiments to validate the low-level directional self-assembly mechanism and the growth of global morphologies. We demonstrate the scalability of the approach with large numbers of robots in simulation-based experiments. |
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