Building Fractals with a Robot Swarm

Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10386)


Fractals are common in nature, and can be used as well for both art and engineering. We classify those fractals that can be represented by line segments into several types: tree-based fractals, curve-based fractals, and space filling fractals. We develop a set of methods to generate fractals with a swarm of robots by using robots as vertices, and line segments between selected robots as edges. We then generalize our algorithms so that new fractals can be built with only a few parameters, and we expand our methods to generate some shape-based fractals.


Fractal formation Distributed algorithm Multi-agent path planning Swarm intelligence 


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Computer Science DepartmentRice UniversityHoustonUSA

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