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research article

Autonomous Self-assembly in Swarm-Bots

Groß, Roderich
•
Bonani, Michael  
•
Mondada, F.  
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2006
IEEE Transactions on Robotics

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. 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, swarmbot qualifies as the current state of the art in autonomous selfassembly.

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Type
research article
DOI
10.1109/TRO.2006.882919
Web of Science ID

WOS:000242815300004

Author(s)
Groß, Roderich
Bonani, Michael  
Mondada, F.  
Dorigo, Marco
Date Issued

2006

Published in
IEEE Transactions on Robotics
Volume

22

Issue

6

Start page

1115

End page

1130

Subjects

self-assembly

•

reconfigurable

•

modular

•

collective

•

autonomous

•

distributed

•

swarm-bot

•

swarm-robotics

•

[MOBOTS]

•

SWARM_BOTS

Note

Sponsor: swarm-bots, OFES 01-0012-1

URL

URL

http://www.swarm-bots.org
Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
LSRO  
LSA  
Available on Infoscience
October 9, 2006
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/235022
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