Autonomous Self-assembly in Swarm-Bots

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.


Published in:
IEEE Transactions on Robotics, 22, 6, 1115-1130
Year:
2006
Keywords:
Note:
Sponsor: swarm-bots, OFES 01-0012-1
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 Record created 2006-10-09, last modified 2018-01-27

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