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.
CITATION STYLE
Liu, W., & Winfield, A. F. T. (2010). Autonomous morphogenesis in self-assembling robots using IR-based sensing and local communications. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 6234 LNCS, pp. 107–118). https://doi.org/10.1007/978-3-642-15461-4_10
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