Stable and spontaneous self-assembly of a multi-robotic system by exploiting physical interaction between agents

Kazuya Suzuki, Tsunamichi Tsukidate, Masahiro Shimizu, Akio Ishiguro

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

One of the most amazing phenomena widely observed in nature is self-assembly; living systems spontaneously form their body structure through the developmental process. While this remarkable phenomenon are not thoroughly understood in biology, the concept of self-assembly becomes undeniably indispensable also in artificial systems as they increase in size and complexity. Based on this consideration, this paper discusses the realization of self-assembly with the use of a multi-robotic system each of which has simple motile function. The main contributions of this paper are twofold: the first concerns a fully decentralized control method derived from the mutual entrainment between coupled nonlinear oscillators; and the second is related to the exploitation of physical interaction between agents stemming from a passive deformation mechanism, which allows an efficient movement of individual agents during the course of self-assembly. Here, form generation by self-assembly is considered as the result of time evolution toward the most dynamically stable state. Owing to this, in principle, the proposed method also satisfies significant ability of self-repair without making any modification to the proposed algorithm. In this paper we validate proposed method by exploiting real physical robotic agents. Experimental results show that stable and spontaneous self-assembly is achieved irrespective of the initial positional relationship between the agents.

本文言語English
ホスト出版物のタイトル2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
ページ4343-4348
ページ数6
DOI
出版ステータスPublished - 2009 12 11
イベント2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
継続期間: 2009 10 112009 10 15

出版物シリーズ

名前2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
国/地域United States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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