Paper Info
Title
The distributed control and experiments of directional self-assembly for modular swarm robots
Abstract
Self-assembly is a process during which pre-existing components are autonomously organized into some special patterns or structures without human intervention. In this paper, we propose a new control algorithm on distributed self-assembly which is implemented on the Sambot robot platform. A directional self-assembly control model is proposed, in which a configuration connection state table is used to represent the configuration of the robotic structures composed of multiple Sambots. There are three types of Sambots, docking Sambots, SEED Sambot and Connected Sambots. All docking Sambots adopt behavior-based controller that is independent of target configuration. The SEED Sambot and Connected Sambots are used to implement configuration growth. Self-assembly experiments of snake-like and quadruped configurations are conducted on the Sambot platform with five Sambots. The experimental results show the effectiveness and scalability of the distributed self-assembly algorithm.
Year
DOI
Venue
2010
10.1109/IROS.2010.5650244
IROS
Keywords
DocType
Volume
directional self-assembly,human intervention,sambot robot,robotic structures,mobile robots,multi-robot systems,behavior-based controller,distributed control,modular swarm robots,self-assembly,pre-existing components,multiple sambots,seed sambot,connected sambots,docking sambots,self assembly,swarm robotics,process control,navigation
Conference
null
Issue
ISSN
ISBN
null
2153-0858
978-1-4244-6674-0
Citations 
PageRank 
References 
7
0.83
16
Authors
4
Name
Order
Citations
PageRank
Hongxing Wei110122.41
Dezhong Li2211.56
Jindong Tan368777.41
Tianmiao Wang432268.45