NDLI: Self-sssembly and morphology control in a swarm-bot

Content Provider	IEEE Xplore Digital Library
Author	O'Grady, R. Christensen, A.L. Dorigo, M.
Copyright Year	2007
Description	Author affiliation: Univ. Libre de Bruxelles, Brussels (O'Grady, R.; Christensen, A.L.; Dorigo, M.)
Abstract	This paper proposes a distributed control mechanism for a self-propelled self-assembling robotic system that allows robots to form specific, connected morphologies. Global morphologies are 'grown' using local visual perception only. The robots in the system do not have access to a blueprint of the global pattern and the algorithmic rules are solely based on what a single robot can see in its immediate surroundings. None of the robots have any predefined position in the final morphology, except for the seed robot that initiates the self-assembly process. Robots that are part of the connected entity indicate where new robots should attach in order to grow the local structure appropriately. The paper demonstrates the efficacy of the mechanism by letting groups of up to 9 real robots self-assemble into four different morphologies: line, star, arrow, and dense.
Starting Page	2551
Ending Page	2552
File Size	90449
Page Count	2
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399419
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Morphology Robot kinematics Robotic assembly Self-assembly Intelligent robots Light emitting diodes Control systems Robot vision systems Cameras USA Councils
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in