Using Morphogenetic Models to Develop Spatial Structures

A common problem in spatial computing is how to arrange the structure of a spatial computer into a geometric form adapted for its current environment and needs. In natural biological organisms, the processes of morphogenesis adapt structure to environment remarkably well on both an individual and evolutionary time scale. However, no clear framework has been developed for exploiting morphogenetic principles in the creation of engineered systems. In this paper, we present preliminary work toward such a framework, developed against the example of a robot similar to the iRobot LANdroid. We first show how developmental programs might act as a reference architecture for engineered designs, facilitating variation. We then present a candidate basis set of geometric operations for encoding adaptable developmental programs, demonstrate how they can be applied to develop a robot body plan, and discuss progress toward implementation.