DocumentCode :
3089420
Title :
A scalable and distributed approach for self-assembly and self-healing of a differentiated shape
Author :
Rubenstein, Michael ; Shen, Wei-Min
Author_Institution :
Inf. Sci. Inst., Univ. of Southern California, Marina del Rey, CA
fYear :
2008
fDate :
22-26 Sept. 2008
Firstpage :
1397
Lastpage :
1402
Abstract :
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.
Keywords :
distributed control; robots; differentiated shape; distributed approach; homogeneous distributed robots; scalable approach; self-assembly; self-healing; simple robotic agents; Color; Robot kinematics; Robot sensing systems; Robots; Self-assembly; Shape; Synchronization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
Type :
conf
DOI :
10.1109/IROS.2008.4650689
Filename :
4650689
Link To Document :
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