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Self-assembly in heterogeneous modular robots

Liu, Wenguo; Winfield, Alan F.T.


Wenguo Liu


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Presentation Conference Type Conference Paper (unpublished)
Start Date Nov 8, 2012
Publication Date Nov 8, 2012
Peer Reviewed Peer Reviewed
APA6 Citation Liu, W., & Winfield, A. F. (2012, November). Self-assembly in heterogeneous modular robots. Paper presented at International Symposium on Distributed Autonomous Robotic Systems, Baltimore, Maryland, USA
Keywords swarm robotics, self-assembly, modular robots
Additional Information Title of Conference or Conference Proceedings : International Symposium on Distributed Autonomous Robotic Systems (DARS2012)


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