NDLI: An autonomous robot that duplicates itself from low-complexity components

Content Provider	IEEE Xplore Digital Library
Author	Lee, K. Chirikjian, G.S.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA (Chirikjian, G.S.) \|\| Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH 44106, USA (Lee, K.)
Abstract	This paper presents an autonomous self-replicating robot consisting of four low-complexity modules. The entire system is composed of a parent robot, four unassembled modules provided as resources, and an environment where the self-replication takes place. The parent robot grows itself by attaching the resource modules onto itself until it doubles its physical size, and then splits in the middle thereby returning the parent to its original state and producing a daughter robot. We call these processes expansion and separation, respectively. The environment plays a passive role as a catalyst that helps generating a spiral trajectory for the parent robot and does not hold any information about the resource modules. To assess the physical changes made by self-replication, structural and informational complexities associated with the robotic system and the self-replication process are quantified and compared to previous prototypes.
Starting Page	2771
Ending Page	2776
File Size	1942940
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509904
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Robotics and automation Biological systems Joining processes Algorithm design and analysis Biological control systems Control systems Organisms USA Councils Spirals
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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
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