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Title: SWARMORPH: Multirobot Morphogenesis Using Directional Self-Assembly
Authors: O'Grady, Rehan
Christensen, Anders Lyhne
Dorigo, Marco
Keywords: Autonomous agents
Cellular and modular robots
Distributed robot systems
Morphology control
Issue Date: 7-Apr-2009
Publisher: IEEE
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.
Description: WOS:000266878300025 (Nº de Acesso Web of Science)
Peer reviewed: Sim
ISSN: 1552-3098
Publisher version: The definitive version is available at IEEE:
Appears in Collections:CTI-RI - Artigos em revistas científicas internacionais com arbitragem científica

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