Autonomous Self-Assembly in Swarm-Bots

Abstract

Abstract-In this paper, we discuss the self-assembling capabilities of the swarm-bot, a distributed robotics concept that lies at the intersection between collective and self-reconfigurable robotics. A swarm-bot is comprised of autonomous mobile robots called s-bots. S-bots can either act independently or self-assemble into a swarm-bot by using their grippers. We report on experiments in which we study the process that leads a group of s-bots to self-assemble. In particular, we present results of experiments in which we vary the number of s-bots (up to 16 physical robots), their starting configurations, and the properties of the terrain on which self-assembly takes place. In view of the very successful experimental results, swarm-bot qualifies as the current state of the art in autonomous self-assembly.

Performance benefits of self-assembly in a swarm-bot

“…Existing systems of particular relevance, therefore, are those in which the components that assemble are self-propelled. A variety of such systems have been implemented and studied over the past fifty years [4], [6], [8], [12], [14], [17], [18]. However, there has been little research on how self-assembly can add functional value to a system of autonomous robots, and even less on quantifying the contribution of self-assembly to system performance.…”

“…Initially, we consider the simple benefits of scale conferred by selfassembly: some tasks can be carried out more effectively if the robots act as a larger connected entity [10]. For example, a larger robotic entity might have increased stability for rough terrain navigation [6] or increased strength for object transportation [15].…”

Self-healing and self-repairing technologies

“…S-bots are individual identical mobile robots which collectively compose a Swarm-bot [145]. Swarm-bots are strongly inspired by social insects (ants), can autonomously assemble into 2-dimensional structures and collectively transport objects.…”

“…The focus is on problem diagnosis and reconfiguration of power systems on a typical surface 13 http://cordis.europa.eu/fetch?CALLER=EN NEWS& ACTION=D&SESSION=&RCN=27445 Homogeneous redundancy with self-reconfiguration L6 [41,144] Systems have been demonstrated to function in real-world environments, but due to the frequent lack of concrete application case, many systems have not been assigned an end user environment yet Coordination mechanisms L3 [145][146][147] Observed in the lab Air-borne homogeneous self-reconfiguration L2 [148] The real state of the project remains undisclosed, but it is assumed that a functioning demonstrator will be announced as soon as it exists Autonomous replacement of heterogeneous modules L3 [149][150][151][152] Observed in the lab Trophallaxis (sharing energy) L3 [146] Observed in the lab Adaptive self-modelling and failure compensation L3 [26,153] Observed in the lab combatant ship for service restoration. Faulty components are quickly isolated and alternative power supply arranged.…”

Exogenous Fault Detection in a Collective Robotic Task

“…1). The s-bot platform has been used for several studies in swarm intelligence and collective robotics [19,20,21]. Each s-bot is equipped with an Xscale CPU running at 400 MHz and several sensors including an omni-directional camera and infrared proximity sensors.…”