NDLI: Stable and spontaneous self-assembly of a multi-robotic system by exploiting physical interaction between agents

Content Provider	IEEE Xplore Digital Library
Author	Suzuki, K. Tsukidate, T. Shimizu, M. Ishiguro, A.
Copyright Year	2009
Description	Author affiliation: Department of Electrical and Communication Engineering, Tohoku University, 6-6-05 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan (Suzuki, K.; Tsukidate, T.; Shimizu, M.; Ishiguro, A.)
Abstract	One of the most amazing phenomena widely observed in nature is self-assembly; living systems spontaneously form their body structure through the developmental process. While this remarkable phenomenon are not thoroughly understood in biology, the concept of self-assembly becomes undeniably indispensable also in artificial systems as they increase in size and complexity. Based on this consideration, this paper discusses the realization of self-assembly with the use of a multi-robotic system each of which has simple motile function. The main contributions of this paper are twofold: the first concerns a fully decentralized control method derived from the mutual entrainment between coupled nonlinear oscillators; and the second is related to the exploitation of physical interaction between agents stemming from a passive deformation mechanism, which allows an efficient movement of individual agents during the course of self-assembly. Here, form generation by self-assembly is considered as the result of time evolution toward the most dynamically stable state. Owing to this, in principle, the proposed method also satisfies significant ability of self-repair without making any modification to the proposed algorithm. In this paper we validate proposed method by exploiting real physical robotic agents. Experimental results show that stable and spontaneous self-assembly is achieved irrespective of the initial positional relationship between the agents.
Starting Page	4343
Ending Page	4348
File Size	2054575
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354316
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Self-assembly Control systems Oscillators Size control Intelligent robots USA Councils Systems biology Distributed control Mutual coupling Evolution (biology)
Content Type	Text
Resource Type	Article

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