Distributed autonomous morphogenesis in a self-assembling robotic system

Liu, Wenguo; Winfield, Alan F.T.

Abstract

We present distributed morphogenesis control strategies in a swarm of robots able to autonomously assemble into 3D symbiotic organisms to perform specific tasks. Each robot in such a system can work autonomously, while teams of robots can self-assemble into various morphologies when required. The idea is to combine the advantages of swarm and self-reconfigurable robotic systems in order to investigate and develop novel principles of development and adaptation for “robotic organisms”, from bio-inspired and evolutionary perspectives. Unlike other modular self-reconfigurable robotic systems, individual robots here are independently mobile and can autonomously dock to each other. The goal is that the robots initially form a certain 2D planar structure and, based on their positions in the body plan, the aggregated “organism” should lift itself to form a 3D configuration, then move and function as a macroscopic whole. It should also be able to disassemble and reassemble into different morphologies to fulfil certain task requirements.

• Publication Date: Dec 14, 2012
• Publicly Available Date: Jun 7, 2019
• Peer Reviewed: Peer Reviewed
• Pages: 89-113
• Book Title: Morphogenetic Engineering: Understanding Complex Systems
• ISBN: 9783642339011
• DOI: https://doi.org/10.1007/978-3-642-33902-8_4
• Keywords: swarm robotics, self-assembly, modular robots
• Public URL: https://uwe-repository.worktribe.com/output/941150
• Publisher URL: http://link.springer.com/chapter/10.1007/978-3-642-33902-8_4
• Additional Information: Additional Information : rene.doursatdrexel.edu, [e-mail], [e-mail]