Automated design of distributed control rules for the self-assembly of prespecified artificial structures

Grushin, Alexander; Reggia, James A.

doi:10.1016/j.robot.2007.08.006

Cited by 27 publications

(23 citation statements)

References 18 publications

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“…For example, alternate algorithms can be used to build structures for which no valid structpath exists; probabilistic rules for movement and attachment could lead to structures not fully predetermined; or robots could build temporary staircases as scaffolds, removing them after a primary desired structure is complete [3,13], thus allowing them to build taller structures with otherwise unclimbable walls.…”

Section: Discussionmentioning

confidence: 99%

“…Notable examples include robots capable of manipulating and/or maneuvering over specialized blocks [6,10], two-dimensional systems where robots assemble structures from blocks [12] or struts [2], cooperative assembly by sophisticated robots [8,9], and a strut-climbing robot that has been proposed as a component of a system where such robots form a structure together with passive struts [1]. Theoretical work on collective construction has also produced several algorithmic approaches to automating building with blocks or struts, in two and three dimensions [3,4,5,10,11,12,14].…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

TERMES: An Autonomous Robotic System for Three-Dimensional Collective Construction

Petersen¹,

Nagpal²,

Werfel³

2011

Robotics: Science and Systems VII

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Abstract-Collective construction is the research area in which autonomous multi-robot systems build structures according to user specifications. Here we present a hardware system and high-level control scheme for autonomous construction of 3D structures under conditions of gravity. The hardware comprises a mobile robot and specialized passive blocks; the robot is able to manipulate blocks to build desired structures, and can maneuver on these structures as well as in unstructured environments. We describe and evaluate the robot's key capabilities of climbing, navigation, and manipulation, and demonstrate its ability to perform complex tasks that combine these capabilities by having it autonomously build a ten-block staircase taller than itself. In addition, we outline a simple decentralized control algorithm by which multiple simultaneously active robots could autonomously build user-specified structures, working from a high-level description as input.

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Section: Discussionmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

TERMES: An Autonomous Robotic System for Three-Dimensional Collective Construction

Petersen¹,

Nagpal²,

Werfel³

2011

Robotics: Science and Systems VII

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“…3D 'houses' built from intelligent autonomous robot bricks) each robot has a stigmergic rule set describing the whole structure and decides what to be (i.e. wall, corner) according to where it finds itself after randomly attaching [18]. While this methodology is provably correct it has the drawback of requiring a high level of random motion (i.e.…”

Section: Developmental Level: So Through Real Robot Autonomous Momentioning

confidence: 99%

On Adaptive Self-Organization in Artificial Robot Organisms

Kernbach

Hamann

Stradner

et al. 2009

2009 Computation World: Future Computing, Service Computation, Cognitive, Adaptive, Content, Patterns

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Abstract-Self-organization in natural systems demonstrates very reliable and scalable collective behavior without using any central elements. When providing collective robotic systems with self-organizing principles, we are facing new problems of making self-organization purposeful, self-adapting to changing environments and faster, in order to meet requirements from a technical perspective. This paper describes on-going work of creating such an artificial self-organization within artificial robot organisms, performed in the framework of several European projects.

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“…Guo et al [5] proposed a distributed gene regulatory network (GRN) based algorithm for multi-robot construction, in which the global shape information is embedded into the GRN dynamics directly and the local interaction among the robots is represented by the diffusion terms; they showed, in simulation, that different pre-defined simple shapes can be formed. Also tested in simulation, Grushin and Reggia [4] developed an automated rule generation procedure that allows structures to successfully self-assemble in an environment with constrained, continuous motion. Apart from controlling the morphologies of lattice type or chain type robots, Christensen et al have proposed a simple language, SWARMMORPH-script, for arbitrary morphology generation for selfassembling robots [1], where each robot is fully autonomous.…”

Section: Introductionmentioning

confidence: 99%