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This paper presents a distributed control algorithm to drive a group of robots to spread out over an environment and provide adaptive sensor coverage of that environment. The robots use an online learning mechanism to estimate the areas in the environment that require more concentrated sensor coverage, while simultaneously providing this coverage. The algorithm differs from previous approaches in...
We present our digital fabrication technique for manufacturing active objects in 2D from a collection of smart particles. Given a passive model of the object to be formed, we envision submerging this original in a vat of smart particles, executing the new shape duplication algorithm described in this paper, and then brushing aside any extra modules to reveal both the original object and an exact copy,...
This paper presents controllers that enable a mobile robot to persistently monitor or sweep a changing environment. The changing environment is modeled as an accumulation function which grows in areas that are not within range of the robot, and decreases in areas that are within range of the robot. The robot must continually move through the environment to prevent the accumulation of any area from...
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