ReactiveBuild: Environment-Adaptive Self-Assembly of Amorphous Structures

Petras Swissler*, Michael Rubenstein

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

ReactiveBuild is an algorithm that enables robot swarms to build a variety of robust, amorphous, and environment-adaptive structures without pre-planning. Robots form structures by climbing their peers until either reaching a point closest to a goal location or until a neighboring robot recruits it for structural reinforcement. This contrasts with typical approaches to robotic self-assembly which generally seek to form some a priori, latticed shape. This paper demonstrates a simulated swarm of FireAnt3D robots using ReactiveBuild to form towers, chains, cantilevers, and bridges in three-dimensional environments.

Original languageEnglish (US)
Title of host publicationDistributed Autonomous Robotic Systems - 15th International Symposium, 2022
EditorsFumitoshi Matsuno, Shun-ichi Azuma, Masahito Yamamoto
PublisherSpringer Nature
Pages363-375
Number of pages13
ISBN (Print)9783030927899
DOIs
StatePublished - 2022
Event15th International Symposium on Distributed Autonomous Robotic Systems, DARS 2021 and 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, SWARM 2021 - Virtual Online
Duration: Jun 1 2021Jun 4 2021

Publication series

NameSpringer Proceedings in Advanced Robotics
Volume22 SPAR
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264

Conference

Conference15th International Symposium on Distributed Autonomous Robotic Systems, DARS 2021 and 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, SWARM 2021
CityVirtual Online
Period6/1/216/4/21

Keywords

  • Bio-inspired
  • Climbing robot
  • Self-assembly
  • Swarm robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Engineering (miscellaneous)
  • Artificial Intelligence
  • Computer Science Applications
  • Applied Mathematics

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