A Grammatical Approach to Self-Organizing Robotic Systems

Klavins, Eric; Ghrist, Robert; Lipsky, David B.

doi:10.1109/tac.2006.876950

Cited by 116 publications

(90 citation statements)

References 24 publications

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“…Systems and languages for the assembly of shapes and structures have seen increasing attention recently [9], [10], [11], [12], [13], [14]. These works focus on operational aspects of getting pieces into place to form a structure, rather than physical properties of those structures or the systems doing the assembling.…”

Section: Related Workmentioning

confidence: 99%

Towards language-based verification of robot behaviors

Cowley

Taylor

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The management of finite resources is central to many robot behaviors. Some robotic systems must maintain invariants regarding the disposition of feet for balancing, others have grippers for manipulating their environments, while yet others must respect strict rules governing the usage of objects in the environment. Yet the specifics of such resource management responsibilities are almost universally locked behind opaque controllers whose lack of type information greatly impedes rigorous static analysis. We present an application of dependent type theory and linear logic for the static analysis of robot behavior programs that manage both robot and environment state, with a worked assembly task example. This approach offers static, formal guarantees with respect to safety requirements attached to primitive actions, as well as introspection of expected state at each step of a scripted sequence of actions allowing for the automatic generation of dynamic, sensor-based, runtime verification of successful execution.

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Section: Related Workmentioning

confidence: 99%

Towards language-based verification of robot behaviors

Cowley

Taylor

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The algorithms are inspired by cellular automata and control is based on geometric rules. Klavins et al (2006) have tackled the problem of defining a class of graph grammars that can be used to model and direct distributed robotic self-assembly. The authors show how a grammar that generates a desired, pre-specified target morphology can be synthesized.…”

Section: Related Workmentioning

confidence: 99%

SWARMORPH-script: a language for arbitrary morphology generation in self-assembling robots

2008

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In certain multi-robot systems, the physical limitations of the individual robots can be overcome using self-assembly-the autonomous creation of physical connections between individual robots to form a larger composite robotic entity. However, existing robotic systems capable of self-assembly have little or no control over the morphology of the self-assembled entities. This restricts the adaptability of such systems, since robots can carry out certain tasks more efficiently if their morphology is specialized to the task. In this paper, we extend the distributed mechanism presented in (Christensen et al. in IEEE Robot. Autom. Mag. 14(4):18-25, 2007) that allows autonomous mobile robots to self-assemble into specific morphologies. We present a simple language, SWARMORPH-script, that allows for concise descriptions of the rules that govern the distributed morphology growth process. Local visual communication allows physically connected robots to send and receive strings. A string can be a rule identifier that triggers execution of predefined logic for extending a morphology. Alternatively, whole scripts can be communicated and subsequently executed on the receiving robot. On real self-propelled robots capable of self-assembly, we demonstrate how specific morphologies can be constructed, how the size of a morphology can be regulated, and how multiple morphologies can be assembled. We also show how the transmission of entire scripts gives the robots the capacity to participate in the formation of morphologies of which they had no a priori knowledge.

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“…No comprehensive dynamical systems model or programming discipline has yet been developed for these systems, although the graph grammar approach built on here and introduced elsewhere [8] is an important start. Besides the grammatical approach, the most relevant work toward understanding self-assembly "programs" in a stochastic setting is in nucleic acid design [5], where the free-energy landscape associated with DNA hybridization reactions can be engineered.…”

Section: Related Workmentioning

confidence: 99%

“…The following definition is similar to that in [8], except adapted for graphs with two edge types and restricted to rules of the form described above. It states formally how trajectories are obtained by rewriting a graph locally according to a binary or unary rule.…”

Section: A Graphs and Rewrite Rulesmentioning

confidence: 99%

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The statistical dynamics of programmed self-assembly

Napp

Burden

Klavins

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

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Abstract-We describe how a graph grammar program for robotic self-assembly, together with measurements of kinetic rate data yield a Markov Process model of the dynamics of programmed self-assembly. We demonstrate and evalidate the method by applying it to a physical testbed consisting of a number of "programmable parts", which are able to control their local interactions according to their on-board programs. We describe a technique for obtaining kinetic rate constants from simulation and a comparison of the behavior predicted by the Markov model with the behavior predicted by a low-level simulation of the system.

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A Grammatical Approach to Self-Organizing Robotic Systems

Cited by 116 publications

References 24 publications

Towards language-based verification of robot behaviors

Towards language-based verification of robot behaviors

SWARMORPH-script: a language for arbitrary morphology generation in self-assembling robots

The statistical dynamics of programmed self-assembly

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