1251313
doi
10.5281/zenodo.1251313
oai:zenodo.org:1251313
user-eu
Ghofrani, Javad
Leibniz Universitaet Hannover
Zahadat, Payam
Karl-Franzens University Graz
Hamann, Heiko
University of Luebeck
Adaptive Path Formation in Self-Assembling Robot Swarms by Tree-like Vascular Morphogenesis
Divband Soorati, Mohammad
University of Luebeck
info:eu-repo/semantics/openAccess
Creative Commons Attribution 4.0 International
https://creativecommons.org/licenses/by/4.0/legalcode
Swarm Robotics, Self-repair, Self-adaptation, Self-assembly, Vascular Morphogenesis, Kilobots
<p>For self-assembly, robot swarms can be programmed to form predefined shapes. <br>
However, if the swarm is required to adapt the assembled shapes to dynamic features of the environment at runtime, then the shapes' structures need to be dynamic, too. <br>
Prerequisite for adaptation is exploration and detection of changes followed by appropriate rearrangements of the assembled structure. <br>
We study a self-assembling robot swarm forming trees to explore its environment and searching for bright areas. <br>
The tree-formation process is inspired by the vascular morphogenesis of natural plants. <br>
Detecting light produces a virtual resource shared within the tree, helping to drop useless branches while reinforcing efficient paths between bright areas and the tree root.<br>
We successfully verify our self-assembly approach in several swarm robot experiments in a dynamic environment showing that the robot swarm can collectively discriminate between light sources at different distances and of different qualities.</p>
Zenodo
2018-05-22
info:eu-repo/semantics/other
1251312
user-eu
award_title=Flora Robotica: Societies of Symbiotic Robot-Plant Bio-Hybrids
as Social Architectural Artifacts; award_number=640959; award_identifiers_scheme=url; award_identifiers_identifier=https://cordis.europa.eu/projects/640959; funder_id=00k4n6c32; funder_name=European Commission;
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