On Self-Optimized Self-Assembling of Heterogeneous Multi-robot Organisms

  • Serge Kernbach
  • Benjamin Girault
  • Olga Kernbach
Part of the Studies in Computational Intelligence book series (SCI, volume 355)


This chapter is devoted to a bio-inspired self-assembling of heterogeneous robot modules into specific topological configurations. The approach involves several algorithmic inspirations from biological regulatory networks for achieving environmental dependability and considers constraint-based optimization techniques for finding optimal connections between heterogeneous modules. Scalability and locality of sensor information are addressed.


Mixed Integer Linear Programming Functional Constraint Optimization Controller Local Cost Global Cost 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Serge Kernbach
    • 1
  • Benjamin Girault
    • 1
  • Olga Kernbach
    • 1
  1. 1.Institute of Parallel and Distributed SystemsUniversity of StuttgartStuttgartGermany

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