Towards Adaptive Morphogenesis in Self-Assembling Robots

2002

We present a new robotic concept, called SWARM-BOT, based on a swarm of small and simple autonomous mobile robots called S-BOTs. S-BOTs have a particular assembling capability that allows them to connect physically to other S-BOTs and form a bigger robot entity, the SWARM-BOT. A SWARM-BOT is typically composed by 10 to 30 S-BOTs physically interconnected. S-BOTs can autonomously assemble into a SWARM-BOT but also disassemble again.

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.

Science robotics, 2018

Morphogenesis allows millions of cells to self-organize into intricate structures with a wide variety of functional shapes during embryonic development. This process emerges from local interactions of cells under the control of gene circuits that are identical in every cell, robust to intrinsic noise, and adaptable to changing environments. Constructing human technology with these properties presents an important opportunity in swarm robotic applications ranging from construction to exploration. Morphogenesis in nature may use two different approaches: hierarchical, top-down control or spontaneously self-organizing dynamics such as reaction-diffusion Turing patterns. Here, we provide a demonstration of purely self-organizing behaviors to create emergent morphologies in large swarms of real robots. The robots achieve this collective organization without any self-localization and instead rely entirely on local interactions with neighbors. Results show swarms of 300 robots that self-construct organic and adaptable shapes that are robust to damage. This is a step toward the emergence of functional shape formation in robot swarms following principles of self-organized morphogenetic engineering.

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.

2003

Swarm-bots are a collection of mobile robots able to self-assemble and to self-organize in order to solve problems that cannot be solved by a single robot. These robots combine the power of swarm intelligence with the flexibility of self-reconfiguration as aggregate swarm-bots can dynamically change their structure to match environmental variations.

Autonomous …, 2004

In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each other. We discuss the challenges involved in controlling a swarm-bot and address the problem of synthesizing controllers for the swarm-bot using artificial evolution. Specifically, we study aggregation and coordinated motion of the swarm-bot using a physics-based simulation of the system. Experiments, using a simplified simulation model of the s-bots, show that evolution can discover simple but effective controllers for both the aggregation and the 224 Dorigo et al.

2007

Abstract Mobile robots are said to be capable of self-assembly when they can autonomously form physical connections with each other. Despite the recent proliferation of self-assembling systems, little work has been done on using self-assembly to add functional value to a robotic system, and even less on quantifying the contribution of self-assembly to system performance.

2020

We present an algorithm by which a swarm of unicycle robots can simultaneously fill multiple planar solid polygonal shapes and also morph between different shapes. By decomposing the desired shape into triangles and defining formation points that lie on each triangle, the robots fill the shape using a divide-and-conquer strategy. Each robot is equipped with limited range and bearing sensors that are used for localized communication and for collision avoidance. The proposed algorithm also allows the swarm to operate in and adapt to dynamic environments, for example, while navigating through narrow passages or avoiding dynamic obstacles. The algorithm is designed to prevent oscillatory behaviour and deadlocks while enabling collision avoidance. We demonstrate the effectiveness of the algorithm through simulations using the iRobot Create mobile robots.

2004

Abstract The goal of this study is the design of controllers for robots capable of physically connecting to each other, any time environmental contingencies prevent a single robot to achieve its goal. This phenomenon is referred to as functional self-assembling. Despite its relevance as an adaptive response, functional self-assembling has been rarely investigated within the context of collective robotics.

Ecal, 2003

In this paper, we study aggregation in a swarm of simple robots, called s-bots, having the capability to self-organize and selfassemble to form a robotic system, called a swarm-bot. The aggregation process, observed in many biological systems, is of fundamental importance since it is the prerequisite for other forms of cooperation that involve self-organization and self-assembling. We consider the problem of defining the control system for the swarm-bot using artificial evolution. The results obtained in a simulated 3D environment are presented and analyzed. They show that artificial evolution, exploiting the complex interactions among s-bots and between s-bots and the environment, is able to produce simple but general solutions to the aggregation problem.

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2003

This paper presents a new robotic concept, called SWARM-BOT, based on a swarm of autonomous mobile robots with self-assembling capabilities. SWARM-BOT takes advantage from collective and distributed approaches to ensure robustness to failures and to hard environment conditions in tasks such as navigation, search and transportation in rough terrain. One SWARM-BOT is composed of a number of simpler robots, called s-bots, physically interconnected. The SWARM-BOT is provided with selfassembling and self-reconfiguring capabilities whereby s-bots can connect and disconnect forming large flexible structures. This paper introduces the SWARM-BOT concept and describes its implementation from a mechatronic perspective.

2005

Abstract—In this paper, we present a comprehensive study on autonomous self-assembly. In particular, we discuss the selfassembling capabilities of the swarm-bot, a distributed robotics concept that lies at the intersection between collective and selfreconfigurable 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.

2005

Abstract This paper provides an overview of the SWARM-BOTS project, a robotics project sponsored by the Future and Emerging Technologies program of the European Commission (IST-2000-31010). We describe the s-bot, a small autonomous robot with self-assembling capabilities that we designed and built within the project. Then we illustrate the cooperative object transport scenario that we chose to use as a test-bed for our robots.

International Journal of Advance Robotics & Expert Systems (JARES)

Scientists and engineers in the whole time history have turned to nature for encouragement and dreams for trouble solving for the real time environments. By observing the performance of groups of bees and ants are working together has given to a rise to the 'swarm intelligence concepts'. One of the most interesting and new explore area of recent decades towards the impressive challenge of robotics is the design of swarm robots that are self-independent and self intelligence one. This concept can be essential for robots exposed to environment that are shapeless or not easily available for an individual operator, such as a distorted construction, the deep sea, or the surface of another planet. In this paper, we present a study on the basic bio-inspirations of swarm and its physical configurations, such as reconfigurability, replication and self-assembly. By introducing the swarm concepts through swarm-bot, which offers mainly miniaturization with robustness, flexibility and scalability. This paper discusses about the various swarmbot intelligence, self-assembly and self-reconfigurability among the most important and capabilities as well as functionality to swarm robots.

2016

Traditional architecture relies on construction processes that require careful planning and strictly defined outcomes at every stage; yet in nature, millions of relatively simple social insects collectively build large complex nests without any global coordination or blueprint. Here, we present a testbed designed to explore how emergent structures can be assembled using swarms of active robots manipulating passive building blocks in two dimensions. The robot swarm is based on the toy “bristlebot”; a simple vibrating motor mounted on top of bristles to propel the body forward. Since shape largely determines the details of physical interactions, the robot behavior is altered by carefully designing its geometry instead of uploading a digital program. Through this mechanical programming, we plan to investigate how to tune emergent structural properties such as the size and temporal stability of assemblies. Alongside a physical testbed with 200 robots, this work involves comprehensive si...