Please use this identifier to cite or link to this item:
http://hdl.handle.net/10071/5440
Author(s): | O'Grady, Rehan Christensen, Anders Lyhne Dorigo, Marco |
Date: | 7-Apr-2009 |
Title: | SWARMORPH: Multirobot Morphogenesis Using Directional Self-Assembly |
Volume: | 25 |
Number: | 3 |
Pages: | 738-743 |
ISSN: | 1552-3098 |
Keywords: | Autonomous agents Cellular and modular robots Distributed robot systems Morphology control Self-assembly |
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. We conduct real-world experiments to validate the low-level directional self-assembly mechanism and the growth of global morphologies. We demonstrate the scalability of the approach with large numbers of robots in simulation-based experiments. |
Peerreviewed: | Sim |
Access type: | Restricted Access |
Appears in Collections: | CTI-RI - Artigos em revistas científicas internacionais com arbitragem científica |
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OgrChrDor_IEEETR2009.pdf Restricted Access | 435,79 kB | Adobe PDF | View/Open Request a copy |
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