Open-Loop Collective Assembly Using a Light Field to Power and Control a Phototaxic Mini-Robot Swarm
| Autor: | Lily Li, Adam Bignell, Richard T. Vaughan |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Scheme (programming language)
0303 health sciences Robot kinematics education.field_of_study Computer science Population Open-loop controller Swarm behaviour Control engineering Mobile robot 01 natural sciences Computer Science::Robotics 010309 optics 03 medical and health sciences 0103 physical sciences Robot education computer Light field 030304 developmental biology computer.programming_language |
| Zdroj: | ICRA |
| Popis: | We propose a novel scheme that jointly addresses the problems of powering and coordinating a population of mini-robots for collective construction. In our setting, a population of simple mobile robots must push blocks into desired polygonal shapes. Each robot performs only simple phototaxis. Coordination is purely open-loop: a global light field guides and powers the robots. We demonstrate this concept in simulation and explore a series of dynamic light field design strategies that robustly result in assembled shapes including nonconvex polygons. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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