Scalable self-assembly and self-repair in a collective of robots

Michael Rubenstein*, Wei Min Shen

*Corresponding author for this work

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

26 Scopus citations

Abstract

A collective of robots can together complete a task that is beyond the capabilities of any of its individual robots. One property of a robotic collective that allows it to complete such a task is the shape of the collective. In this paper, we present a distributed control method, called DASH, to enable a collective of robots to robustly and consistently form and maintain a pre-defined shape. This control method allows the shape that is formed to be at a scale proportional to the number of robots in the collective. If this collective shape is damaged through the un-controlled movement, removal, or addition of some members of the collective, the existing members will recover the desired shape, proportional to the new number of robots in the collective. We also analyze this control method in terms of class of acceptable shapes and discuss the convergence to the desired shape.

Original languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages1484-1489
Number of pages6
DOIs
StatePublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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