Autonomous self-assembly in swarm-bots

被引：218

作者：

Gross, Roderich ^{[1
]}

Bonani, Michael

Mondada, Francesco

Dorigo, Marco

机构：

[1] Free Univ Brussels, CoDE, IRIDIA, B-1050 Brussels, Belgium

[2] Ecole Polytech Fed Lausanne, Robot Syst Lab, CH-1015 Lausanne, Switzerland

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2006年 / 22卷 / 06期

基金：

日本学术振兴会;

关键词：

autonomous; collective; distributed; modular; reconfigurable; self-assembly; swarm-bot; swarm robotics;

D O I：

10.1109/TRO.2006.882919

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, we discuss the self-assembling capabilities of the swarm-bot, a distributed robotics concept that lies at the intersection between collective and self-reconfigurable robotics. A swarm-bot is comprised of autonomous mobile robots called s-bots. S-bots can either act independently or self-assemble into a swarm-bot by using their grippers. We report on experiments in which we study the process that leads a group of s-bots to self-assemble. In particular, we present results of experiments in which we vary the number of s-hots (up to 16 physical robots), their starting configurations, and the properties of the terrain on which self-assembly takes place. In view of the very successful experimental results, swarm-bot qualifies as the current state of the art in autonomous self-assembly.

引用

页码：1115 / 1130

页数：16

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