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R. O'Grady, R. Groß, A. Christensen, F. Mondada, M. Bonani, and M. Dorigo. Performance Benefits of Self-Assembly in a Swarm-Bot. Technical Report TR/IRIDIA/2007-008, IRIDIA, Université Libre de Bruxelles, Brussels, Belgium, April 2007.

Abstract

Mobile robots are said to be capable of self-assembly when they can autonomously form physical connections with each other. Despite the recent proliferation of self-assembling systems, little work has been done on using self-assembly to add functional value to a robotic system, and even less on quantifying the contribution of self-assembly to system performance. In this study we demonstrate and quantify the performance benefits of i) acting as a physically larger self-assembled entity, ii) using self-assembly adaptively and iii) making the robots morphologically aware (the self-assembled robots leverage their new connected morphology in a task specific way). In our experiments, two real robots must navigate to a target over a-priori unknown terrain. In some cases the terrain can only be overcome by a self-assembled connected entity. In other cases, the robots can reach the target faster by navigating individually.


Updated: 2017-03-27