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A collective of robots can together complete a task that is beyond the capabilities of any of its individual robots. One property of a robotic collective that allows it to complete such a task is the shape of the collective. In this paper, we present a distributed control method, called DASH, to enable a collective of robots to robustly and consistently form and maintain a pre-defined shape. This...
This paper presents a bio-inspired, distributed control algorithm called TENTACLES for a group of radio robots to move, self-configure and maintain communication between some critical entities (such as humans, command centers, or other systems) in an unknown environment. The basic idea is to direct robots' explorative movements to grow ??tentacles?? from entities and establish links when tentacles...
As the ability to produce a large number of small, simple robotic agents improves, it becomes essential to control the behavior of these robots in such a way that the sum of their actions gives rise to the desired overall result. These robots are modeled as homogeneous, distributed robots, with only one simple short range sensor. Our simple robots are tasked to form and hold a desired swarm shape,...
This paper presents a dynamic and distributed reconfiguration planning algorithm for chain-type self-reconfigurable robots, by which a robot can autonomously self-reconfigure from one arbitrary acyclic configuration to another in a distributed way. The novel features of this algorithm include: (1) an efficient representation for unlabeled complex configurations; (2) a distributed comparison to detect...
Superbot consists of Lego-like but autonomous robotic modules that can reconfigure into different systems for different tasks. Examples of configurable systems include rolling tracks or wheels (for efficient travel), spiders or centipedes (for climbing), snakes (for burrowing in ground), and climbers (for inspection and repair in space). This video shows several configurations and behaviors that are...
We present a distributed controller for the center of mass of a modular robot. This is useful for locomotion of a modular robot over uneven and unknown terrain. By controlling the center of mass, a robot can prevent itself from falling over. We present a distributed and decentralized algorithm that computes the mass properties of the robot. Additionally, each module also computes the mass properties...
The control of robot swarming in a distributed manner is a difficult problem because global behaviors must emerge as a result of many local actions. This paper uses a bio-inspired control method called the Digital Hormone Model (DHM) to control the tasking and executing of robot swarms based on local communication, signal propagation, and stochastic reactions. The DHM model is probabilistic, dynamic,...
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