ReactiveBuild: Environment-Adaptive Self-Assembly of Amorphous Structures
| Title: | ReactiveBuild: Environment-Adaptive Self-Assembly of Amorphous Structures |
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| Publication Type: | Conference Paper |
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| Year of Publication: | 2021 |
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| Authors: | P. Swissler, and M. Rubenstein |
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| Conference Name: | DARS-SWARM2021 |
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| Abstract: |
ReactiveBuild is an algorithm that enables swarms of robots to build a variety of robust, environment-adaptive structures without pre-planning. Robots form structures by climbing their peers until ei- ther reaching a point closest to a goal location or until a neighboring robot recruits it for structural reinforcement. This contrasts with typical approaches to robotic self-assembly which generally seek to form some a priori shape. This paper demonstrates a simulated swarm of Fire- Ant3D robots using ReactiveBuild to form towers, chains, cantilevers, and bridges in three-dimensional environments.
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PDF:
2021dars_pswissler.pdf
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