Skip navigation
Logo
User training | Reference and search service

Library catalog

Retrievo
EDS
b-on
More
resources
Content aggregators
Please use this identifier to cite or link to this item:

acessibilidade

http://hdl.handle.net/10071/18170
Full metadata record
acessibilidade
DC FieldValueLanguage
dc.contributor.authorMathews, N.-
dc.contributor.authorChristensen, A. L.-
dc.contributor.authorStranieri, A.-
dc.contributor.authorScheidler, A.-
dc.contributor.authorDorigo, M.-
dc.date.accessioned2019-06-03T09:27:54Z-
dc.date.issued2019-
dc.identifier.issn0921-8890-
dc.identifier.urihttp://hdl.handle.net/10071/18170-
dc.description.abstractSelf-assembling robots have the potential to undergo autonomous morphological adaptation. However, due to the simplicity in their hardware makeup and their limited perspective of the environment, self-assembling robots are often not able to reach their potential and adapt their morphologies to tasks or environments without external cues or prior information. In this paper, we present supervised morphogenesis — a control methodology that makes self-assembling robots truly flexible by enabling aerial robots to exploit their elevated position and better view of the environment to initiate and control (hence supervise) morphology formation on the ground. We present results of two case studies in which we assess the feasibility of the presented methodology using real robotic hardware. In the case studies, we implemented supervised morphogenesis using two different aerial platforms and up to six self-assembling autonomous robots. We furthermore quantify the benefits attainable for self-assembling robots through cooperation with aerial robots using simulation-based studies. The research presented in this paper is a significant step towards realizing the true potential of self-assembling robots by enabling autonomous morphological adaptation to a priori unknown tasks and environments.eng
dc.language.isoeng-
dc.publisherElsevier-
dc.relationinfo:eu-repo/grantAgreement/EC/FP7/246939/EU-
dc.relationinfo:eu-repo/grantAgreement/FCT/5876/147328/PT-
dc.rightsopenAccess-
dc.subjectSelf-assembling robotseng
dc.subjectHeterogeneous multirobot teamseng
dc.subjectDistributed systemseng
dc.subjectAir/ground robot teamseng
dc.subjectRobot coordinationeng
dc.subjectModular robotseng
dc.titleSupervised morphogenesis: exploiting morphological flexibility of self-assembling multirobot systems through cooperation with aerial robotseng
dc.typearticle-
dc.pagination154 - 167-
dc.peerreviewedyes-
dc.journalRobotics and Autonomous Systems-
dc.volume112-
degois.publication.firstPage154-
degois.publication.lastPage167-
degois.publication.titleSupervised morphogenesis: exploiting morphological flexibility of self-assembling multirobot systems through cooperation with aerial robotseng
dc.date.updated2019-06-03T10:22:05Z-
dc.description.versioninfo:eu-repo/semantics/acceptedVersion-
dc.identifier.doi10.1016/j.robot.2018.11.007-
dc.subject.fosDomínio/Área Científica::Ciências Naturais::Matemáticaspor
dc.subject.fosDomínio/Área Científica::Ciências Naturais::Ciências da Computação e da Informaçãopor
dc.subject.fosDomínio/Área Científica::Engenharia e Tecnologia::Engenharia Civilpor
dc.subject.fosDomínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informáticapor
dc.date.embargo2019-11-09-
iscte.identifier.cienciahttps://ciencia.iscte-iul.pt/id/ci-pub-60169-
iscte.alternateIdentifiers.wosWOS:000457667300013-
iscte.alternateIdentifiers.scopus2-s2.0-85057583830-
Appears in Collections:IT-RI - Artigo em revista internacional com arbitragem científica

Files in This Item:
acessibilidade
File Description SizeFormat 
1-s2.0-S092188901730372X-main.pdfPós-print7.57 MBAdobe PDFView/Open


FacebookTwitterDeliciousLinkedInDiggGoogle BookmarksMySpace
Formato BibTex MendeleyEndnote Currículo DeGóis 

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.