Wenguo Liu
Distributed autonomous morphogenesis in a self-assembling robotic system
Liu, Wenguo; Winfield, Alan F.T.
Authors
Alan Winfield Alan.Winfield@uwe.ac.uk
Professor in Robotics
Contributors
Ren� Doursat
Editor
Hiroki Sayama
Editor
Olivier Michel
Editor
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.
Citation
Liu, W., & Winfield, A. F. (2012). Distributed autonomous morphogenesis in a self-assembling robotic system. In R. Doursat, H. Sayama, & O. Michel (Eds.), Morphogenetic Engineering: Understanding Complex Systems (89-113). Springer. https://doi.org/10.1007/978-3-642-33902-8_4
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, sayama@binghamton.edu, olivier.michel@u-pec.fr |
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