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Self-assembly in heterogeneous modular robots

Liu, Wenguo; Winfield, Alan F.T.

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Authors

Wenguo Liu



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.

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

Presentation Conference Type Conference Paper (unpublished)
Conference Name International Symposium on Distributed Autonomous Robotic Systems
Conference Location Baltimore, Maryland, USA
Start Date Nov 8, 2012
End Date Nov 11, 2012
Publication Date Nov 8, 2012
Publicly Available Date Mar 28, 2024
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)

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