Wenguo Liu
Self-assembly in heterogeneous modular robots
Liu, Wenguo; Winfield, Alan F.T.
Abstract
This paper describes the distributed self-assembly of a multi-robot ‘organism’ from a swarm of autonomous heterogeneous modular mobile robots. A distributed self-assembly strategy based on a symbol sequence representation is proposed. Constructed from a tree representation of an organism, the symbol sequence is presented as a well organised nested structure in a compact format. It includes not only information on the topology of the organism but also how the organism will be self-assembled. The proposed approach has been tested with real robot prototypes. Results show that robots can successfully self-assemble to required target body plans within certain time frames.
Presentation Conference Type | Conference Paper (unpublished) |
---|---|
Conference Name | International Symposium on Distributed Autonomous Robotic Systems |
Start Date | Nov 8, 2012 |
End Date | Nov 11, 2012 |
Publication Date | Nov 8, 2012 |
Publicly Available Date | Jun 7, 2019 |
Peer Reviewed | Peer Reviewed |
Keywords | swarm robotics, self-assembly, modular robots |
Public URL | https://uwe-repository.worktribe.com/output/941997 |
Additional Information | Title of Conference or Conference Proceedings : International Symposium on Distributed Autonomous Robotic Systems (DARS2012) |
Files
dars2012_wliu_aw_final.pdf
(2 Mb)
PDF
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