Autonomous morphogenesis in self-assembling robots using IR-based sensing and local communications

Liu, Wenguo; Winfield, Alan F.T.

Abstract

This paper presents a simple decentralised morphology control mechanism for a swarm of self-assembling robots. Each robot in the system is fully autonomous and controlled using a behaviour-based approach with only infrared-based local sensing and communications. A graph-based recruitment strategy is proposed to guide the growth of 2D planar organisms, and local communications are used to self-organise the behaviours of robots during the morphogenesis process. The effectiveness of the approach has been verified, in simulation, for a diverse set of target structures. © 2010 Springer-Verlag Berlin Heidelberg.

• Presentation Conference Type: Conference Paper (published)
• Publication Date: Nov 3, 2010
• Deposit Date: Nov 5, 2010
• Publicly Available Date: Mar 15, 2016
• Journal: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
• Print ISSN: 0302-9743
• Electronic ISSN: 1611-3349
• Publisher: Springer Verlag
• Peer Reviewed: Not Peer Reviewed
• Volume: 6234 LNCS
• Pages: 107-118
• Series Title: Lecture Notes in Computer Science
• DOI: https://doi.org/10.1007/978-3-642-15461-4_10
• Keywords: autonomous morphogenesis, self-assembling robots, IR based sensing, local communications
• Public URL: https://uwe-repository.worktribe.com/output/986418
• Publisher URL: http://dx.doi.org/10.1007/978-3-642-15461-4_10
• Contract Date: Mar 15, 2016