Abstract
Robot swarms provide interesting and potentially very useful examples of self-organizing systems. This chapter focuses on a specific approach, dubbed “active self-assembly”, for constructing arbitrary shapes with swarms of identical and identically programmed robots. Important, open issues are identified in the specific context of active self-assembly, but they are of more general applicability. Much of the discussion is centered on the fundamental problems of how to control a swarm to ensure that the structures it builds are self-repairing, and of how to assess the performance of self-assembling swarms.
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Acknowledgments
This work was supported in part by the NSF under Grant DMI-02-09678, and the Okawa Foundation.
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Arbuckle, D. ., Requicha, A. .G. (2012). Issues in Self-Repairing Robotic Self-Assembly. In: Doursat, R., Sayama, H., Michel, O. (eds) Morphogenetic Engineering. Understanding Complex Systems. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33902-8_6
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DOI: https://doi.org/10.1007/978-3-642-33902-8_6
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