A mechanism to self-assemble patterns with autonomous robots

Amire, 2005

In this paper, we discuss the self-assembling capabilities of the swarm-bot, a distributed robotics concept that lies at the intersection between collective and self-reconfigurable robotics. A swarm-bot is comprised of autonomous mobile robots called s-bots. S-bots can either act independently or self-assemble into a swarm-bot by using their grippers. We report on experiments in which we study the process that leads a group of s-bots to self-assemble. In particular, we present results of experiments in which we vary the number of s-bots (up to 16 physical robots), their starting configurations, and the properties of the terrain on which self-assembly takes place. In view of the very successful experimental results, swarm-bot qualifies as the current state of the art in autonomous self-assembly.

Robotics and Autonomous Systems, 2005

In this paper we address the problem of synthesizing simple rules and local interactions at the individual level so that pre-specified complex behavior emerges at the group level of a collection of autonomous mobile agents. Usually, the emergent collective behavior is used to perform certain spatial group-tasks. Specifically, we consider self-assembling of a group of mobile robots into grid, line, and wedge patterns. We introduce the notion of local-templates in which each mobile agent – capable of simple forward/backward movements and a clock-wise/counter clock-wise spin – actively encodes distinctive information into multiple non-overlapping sectorial regions of the surrounding environment in order to form pose-specific virtual links with similar minimalist agents in a local neighborhood. The resulting local patterns around each agent lead to the desired global formation. In order to take mobile robots closer to their biological counterparts, there is a need to further simplify the manner in which they currently perceive their surroundings, communicate with their neighbors, and compute their actions. We have built a robotic platform consisting of four wheeled-mobile robots that are christened as Kinbots. They are similar in principle to Braitenberg Vehicles and use simple perception/interaction/actuation techniques to achieve individual vehicle complexity and produce effective group behavior through cooperation. To validate the proposed approach, we demonstrate a column-formation task in computer simulations and physical experiments. We illustrate an experiment which is representative of various prominent stages in a group-formation task such as formation-achievement, maintenance, and response of formation movement to the presence of obstacles.

… , IEEE Transactions on, 2006

In this paper, we discuss the self-assembling capabilities of the swarm-bot, a distributed robotics concept that lies at the intersection between collective and self-reconfigurable robotics. A swarm-bot comprises autonomous mobile robots called s-bots. S-bots can either act independently or self-assemble into a swarm-bot by using their grippers.

2007

Abstract In this article, we propose a distributed control mechanism for a self-propelled, self-assembling robotic system that allows robots to form specific, connected morphologies. Global morphologies are grown using only local visual perception. Robots that are part of the connected entity indicate where new robots should attach to grow the local structure appropriately. We demonstrate the efficacy of the mechanism by letting groups of seven real robots self-assemble into four different morphologies: line, star, arrow, and rectangle.

2007

This work concerns a biologically-inspired approach to self-assembly and pattern formation in multi-robot systems. In previous work the authors have recently studied two different approaches to multi-robot control, one based upon the evolution of controllers modelled as genetic regulatory networks (GRNs), and the other based upon a model of self-organisation in aggregates of biological cells mediated by cellular adhesion molecules (CAMs). In the current work, a hybrid GRN-CAM controller is introduced, which captures ...

2009

Abstract In this paper, we propose SWARMORPH: a distributed morphology generation mechanism for autonomous self-assembling mobile robots. Self-organized growth of global morphological structures emerges through the repeated application of local morphology extension rules. We present details of the directional self-assembly mechanism that provides control over the orientation of interrobot connections.

Applied Artificial Intelligence, 2004

In this paper we focus on the problem of having a multitude of very simple mobile robots self-organize their relative positions so as to obtain a variety of spatial configurations. The problem has a variety of applications in mobile robotics, modular robots, sensor networks, and computational self-assembly. The approach we investigate in this paper attempts at minimizing the local capability of robots and at verifying how and to which extent a variety of global shapes can be obtained by exploiting simple self-organizing algorithms and emergent behaviors. Several experiments are reported showing the effectiveness of the approach.

2010

Abstract Robots are said to be capable of self-assembly when they can autonomously form physical connections with each other.

The problem of coordinating a set of autonomous, mobile robots for cooperatively performing a task has been studied extensively over the past decade. These studies assume a set of autonomous, anonymous, oblivious robots. A task for such robots is to form an arbitrary pattern in the two dimensional plane. This task is fundamental in the sense that if the robots can form any pattern, they can agree on their respective roles in a subsequent, coordinated action. Such tasks that a system of robots can perform depend strongly on their common agreement about their environment. In this paper, we attempt to provide a distributed algorithm for pattern formation in the case of no agreement on coordinate axes. We also discuss the limitations of our algorithm.

ArXiv, 2020

We present a new version of our previously proposed algorithm enabling a swarm of robots to construct a desired shape from objects in the plane. We also describe a hardware realization for this system which makes use of simple and readily sourced components. We refer to the task as planar construction which is the gathering of ambient objects into some desired shape. As an example application, a swarm of robots could use this algorithm to not only gather waste material into a pile, but shape that pile into a line for easy collection. The shape is specified by an image known as the scalar field. The scalar field serves an analogous role to the template pheromones that guide the construction of complex natural structures such as termite mounds. In addition to describing the algorithm and hardware platform, we develop some performance insights using a custom simulation environment and present experimental results on physical robots.

2008

Abstract In certain multi-robot systems, the physical limitations of the individual robots can be overcome using self-assembly—the autonomous creation of physical connections between individual robots to form a larger composite robotic entity. However, existing robotic systems capable of self-assembly have little or no control over the morphology of the self-assembled entities. This restricts the adaptability of such systems, since robots can carry out certain tasks more efficiently if their morphology is specialized to the task.

International Joint Conference on Artificial Intelligence, 2005

We describe a system in which simple, identi- cal, autonomous robots assemble two-dimensional structures using prefabricated modules as build- ing blocks. Modules are capable of some infor- mation processing, enabling them to share long- range structural information and communicate it to robots. This communication allows arbitrary solid structures to be rapidly built using a few x ed, local robot behaviors.

2011

Abstract We introduce enhanced directional self-assembly (EDSA)-a novel mechanism for morphology growth through the creation of directed connections in a self-assembling multirobot system. In our approach, a robot inviting a physical connection actively recruits the best located neighboring robot and guides the recruit to the location on its chassis where the connection is required. The proposed mechanism relies on local, high-speed communication between connection inviting robots and their recruits.

2008

Self-assembling multi-robot systems can, in theory, overcome the physical limitations of individual robots by connecting to each other to form particular physical structures (morphologies) relevant to specific tasks. Here, we show for the first time how robots in a real-world multi-robot system can autonomously self-assemble into and reconfigure between arbitrary morphologies. We use a distributed control paradigm.

Physics Letters A, 2011

Self-organized modular approaches proved in nature to be robust and optimal and are a promising strategy to control future concepts of flexible and modular manufacturing processes. We show how this can be applied to a model of flexible manufacturing based on time-dependent robot-target assignment problems where robot teams have to serve manufacturing targets such that an objective function is optimized. Feasibility of the self-organized solutions can be guaranteed even for unpredictable situations like sudden changes in the demands or breakdowns of robots. As example an uncrewed space mission is visualized in a simulation where robots build a space station.