TY - GEN
T1 - A scalable and distributed approach for self-assembly and self-healing of a differentiated shape
AU - Rubenstein, Michael
AU - Shen, Wei Min
PY - 2008/12/1
Y1 - 2008/12/1
N2 - As the ability to produce a large number of small, simple robotic agents improves, it becomes essential to control the behavior of these robots in such a way that the sum of their actions gives rise to the desired overall result. These robots are modeled as homogeneous, distributed robots, with only one simple short range sensor. Our simple robots are tasked to form and hold a desired swarm shape, independent of the total number of agents. If this shape is damaged by the removal of some of the robots, the remaining agents will recover the former shape, but on a smaller scale. These shapes can also have a pattern such as a picture or drawing displayed on them by controlling the individual robots color, symbolically representing the differentiation of agents within the swarm. This pattern will resize to fit the existing swarm. With the ability to synchronize in time, the swarm gains the ability to change the pattern displayed, resulting in a moving image.
AB - As the ability to produce a large number of small, simple robotic agents improves, it becomes essential to control the behavior of these robots in such a way that the sum of their actions gives rise to the desired overall result. These robots are modeled as homogeneous, distributed robots, with only one simple short range sensor. Our simple robots are tasked to form and hold a desired swarm shape, independent of the total number of agents. If this shape is damaged by the removal of some of the robots, the remaining agents will recover the former shape, but on a smaller scale. These shapes can also have a pattern such as a picture or drawing displayed on them by controlling the individual robots color, symbolically representing the differentiation of agents within the swarm. This pattern will resize to fit the existing swarm. With the ability to synchronize in time, the swarm gains the ability to change the pattern displayed, resulting in a moving image.
UR - http://www.scopus.com/inward/record.url?scp=69549131143&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69549131143&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4650689
DO - 10.1109/IROS.2008.4650689
M3 - Conference contribution
AN - SCOPUS:69549131143
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 1397
EP - 1402
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -