Autonomous Morphogenesis in Self-assembling Robots Using IR-Based Sensing and Local Communications
This paper presents a simple decentralised morphology control mechanism for a swarm of self-assembling robots. Each robot in the system is fully autonomous and controlled using a behaviour-based approach with only infrared-based local sensing and communications. A graph-based recruitment strategy is proposed to guide the growth of 2D planar organisms, and local communications are used to self-organise the behaviours of robots during the morphogenesis process. The effectiveness of the approach has been verified, in simulation, for a diverse set of target structures.
KeywordsTree Data Structure Beacon Signal State Recruitment Docking Mechanism Morphogenesis Process
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