Abstract
A self-assembling and self-repairing mechanical system is experimentally studied to demonstrate its effectiveness. We developed a 2-D model of an autonomous mechanical unit capable of dynamic reconfiguration and inter-unit communication. Self-assembly and self-repair experiments have been carried out using a distributed algorithm developed under the constraints of the system's homogeneity and locality of information exchange. In experiments, more than ten units successfully configured themselves and recovered from a fault. Besides the research of the 2-D model, a model of a 3-D system and its self-assembly algorithm are also developed.
Original language | English |
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Pages (from-to) | 79-89 |
Number of pages | 11 |
Journal | Robotics and Autonomous Systems |
Volume | 29 |
Issue number | 1 |
DOIs | |
Publication status | Published - 1999 Oct 31 |
Externally published | Yes |
Event | Proceedings of the 1998 4th International Symposium on Distributed Autonomous Robotic Systems (DARS'98) - Karlsruhe, Ger Duration: 1998 May 25 → 1998 May 27 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Mathematics(all)
- Computer Science Applications