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

Liu, Wenguo; Winfield, Alan F.T.

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Authors

Wenguo Liu



Contributors

Marco Dorigo
Editor

Mauro Birattari
Editor

Gianni Di Caro
Editor

Ren� Doursat
Editor

Andries Engelbrecht
Editor

Dario Floreano
Editor

Luca Gambardella
Editor

Roderich Gro�
Editor

Erol Sahin
Editor

Hiroki Sayama
Editor

Thomas St�tzle
Editor

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Peer Reviewed Not Peer Reviewed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
ISBN ;
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

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