Abstract
In this paper, an assembly swarm algorithm, that will generate microscopic rules from a macroscopic description of complex structures, will be presented. The global structure will be described in a formal way using L-systems (Lindenmayer systems). The proposed algorithm is mainly parallel and exhibit parsimony at microscopic level, being robust and adaptable. In addition, a comparation between a swarm with centralized control and our distributed swarm algorithm will be provided, comparing the time need by the swarm to be assembled and the number of messages exchanged between agents.
This work has been supported by the Ministerio de Ciencia e Innovacion, project TIN2009-10581.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Ampatzis, C., Tuci, E., Trianni, V., Christensen, A.L., Dorigo, M.: Evolving self-assembly in autonomous homogeneous robots: Experiments with two physical robots. Artif. Life 15, 465–484 (2009)
Baldassarre, G., Parisi, D., Nolfi, S.: Distributed Coordination of Simulated Robots Based on Self-Organization, vol. 12. MIT Press, Cambridge (2006)
Farooq, H., Zakaria, M.N., Hassan, M. F., Sulaiman, S.: An Approach to Derive Parametric L-system Using Genetic Algorithm. In: Badioze Zaman, H., Robinson, P., Petrou, M., Olivier, P., Schröder, H., Shih, T.K. (eds.) IVIC 2009. LNCS, vol. 5857, pp. 455–466. Springer, Heidelberg (2009)
Groß, R., Dorigo, M.: Self-assembly at the macroscopic scale. Proceedings of the IEEE 96(9), 1490–1508 (2008)
Grushin, A., Reggia, J.A.: Parsimonious rule generation for a nature-inspired approach to self-assembly. ACM Trans. Auton. Adapt. Syst. 5, 12:1–12:24 (2010)
Kurth, W.: Specification of morphological models with l-systems and relational growth grammars. Image, Journal of Interdisciplinary Image Science 5 Special Issue (2007)
St’ava, O., Benes, B., Mech, R., Aliaga, D.G., Kristof, P.: Inverse procedural modeling by automatic generation of l-systems. Computer Graphics Forum 29(2), 665–674 (2010)
Tuci, E., Groß, R., Trianni, V., Mondada, F., Bonani, M., Dorigo, M.: Cooperation through self-assembly in multi-robot systems. ACM Trans. Auton. Adapt. Syst. 1, 115–150 (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Aznar, F., Pujol, M., Rizo, R. (2011). L-System-Driven Self-assembly for Swarm Robotics. In: Lozano, J.A., Gámez, J.A., Moreno, J.A. (eds) Advances in Artificial Intelligence. CAEPIA 2011. Lecture Notes in Computer Science(), vol 7023. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25274-7_31
Download citation
DOI: https://doi.org/10.1007/978-3-642-25274-7_31
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25273-0
Online ISBN: 978-3-642-25274-7
eBook Packages: Computer ScienceComputer Science (R0)