Collective Construction of Dynamic Equilibrium Structure Through Interaction of Simple Robots with Semi-active Blocks

Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 112)

Abstract

This paper proposes a collective construction method through interaction between simple robots and intelligent blocks that has a rule set and functions to communicate with neighboring blocks. In our proposed method, the structure is formed by growing chain of blocks. The growth direction is determined by the rule set and a counter value passed between the blocks. The robots load or unload the block based on a simple algorithm and a local signal from the blocks. Because of the simplicity of each robot’s behavior, the structure is locally unstable: the blocks can be attached or detached randomly from the structure even if they have already formed a part of the structure. The structure is considered a dynamic equilibrium structure that is locally unstable but globally stable. In this paper, we first explain the mechanism of our proposal and show some fundamental characteristics obtained by computer simulation. Then, we show the adaptability of the system by introducing simple sensing dynamics for an external stimulus.

Keywords

Collective construction Dynamic equilibrium Swarm robots Semi-active blocks 

References

  1. 1.
    Deneubourg, J.L., et al. The dynamics of collective sorting robot-like ants and ant-like robots. In: Animals to Animats. 356–363 (1990)Google Scholar
  2. 2.
    Beckers, R., Holland, O.E., Deneubourg, J.L.: From Local Actions To Global Tasks: Stigmergy and Collective Robotics, pp. 181–189. Artificial Life IV, MIT Press (1994)Google Scholar
  3. 3.
    Melhuish, C., Holland, O., Hoddell, S.: Collective sorting and segregation in robots with minimal sensing. In: Proceedings of the Fifth International Conference on Simulation of Adaptive Behavior, pp. 465-470 (1998)Google Scholar
  4. 4.
    Lumer, E., Faieta, B.: Exploratory database analysis via self-organization. In: Proceedings of the Computer Assisted Information Retrieval (1995)Google Scholar
  5. 5.
    Maris, M., Boeckhorst, R.: Exploiting physical constraints: heap formation through behavioral error in a group of robots. Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. 3, 1655–1660 (1996)CrossRefGoogle Scholar
  6. 6.
    Parker, C., Zhang, H.: Robot collective construction by blind bulldozing. IEEE Int. Conf. Syst. Man Cybern. 2, 59–63 (2002)Google Scholar
  7. 7.
    Werfel, J.: Building blocks for multi-robot construction. In: Distributed Autonomous Robotic System 6, pp. 285–294. Springer (2007)Google Scholar
  8. 8.
    Stewart, R.L., Russell, R.A.: A distributed feedback mechanism to regulate wall construction by a robotic swarm. Adapt. Behav. 14(1), 21–51 (2006)CrossRefGoogle Scholar
  9. 9.
    Grasse, P.P.: La reconstruction du nid et les coordinations interindividuelles chez bellicositermes natalensis et cubitermes sp. La theorie de la stigmergie: essai d’interpretation du comportement des termites constructeurs, Insectes Sociaux 6, 41–81 (1959)Google Scholar
  10. 10.
    Deneubourg, J.L.: Application de l’ordre par fluctuations a la description de certaines étapes de la construction du nid chez les Termites. Insectes Sociaux 24, 117–130 (1977)CrossRefGoogle Scholar
  11. 11.
    Skarka, V., Deneubourg, J.L., Belic, M.R.: Mathematical model of building behavior of Apis mellifera. J. Theor. Biol. 147, 1–16 (1990)CrossRefGoogle Scholar
  12. 12.
    Theraulaz, G., Bonabeau, E.: Coordination in distributed building. Science 269, 686–688 (1995)CrossRefGoogle Scholar
  13. 13.
    Theraulaz, G., Bonabeau, E.: Modelling the collective building of complex architectures in social insects with lattice swarms. J. Theor. Biol. 177, 381–400 (1995)CrossRefGoogle Scholar
  14. 14.
    Werfel, J., Yaneer, B-Y., Rus, D., Nagpal, R.: Distributed construction by mobile robots with enhanced building blocks. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2787–2794 (2006)Google Scholar
  15. 15.
    Werfel, J., Petersen, K., Nagpal, R.: Distributed multi-robot algorithms for the TERMES 3D collective construction system. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (2011)Google Scholar
  16. 16.
    Werfel, J., Bar-Yam, Y., Nagpal, R.: Building patterned structures with robot swarms. In: International Joint Conference on Artificial Intelligence (2005)Google Scholar
  17. 17.
    Shimizu, M., Tsukidate, T., Sugawara, K., Ishiguro, A.: Dynamic self-assembly based on dynamic equilibrium of building and scrapping. In: Proceedings of JSME Conference on Robotics and Mechatronics, 2A1-G09(1)-(4) (2010)Google Scholar

Copyright information

© Springer Japan 2016

Authors and Affiliations

  1. 1.Tohoku Gakuin UniversitySendaiJapan

Personalised recommendations