Self-Assembly and Self-Repair during Motion with Modular Robots

Self-reconfigurable modular robots consist of multiple elements and have the potential to enable future autonomous systems adapt themselves handle unstructured environments, novel tasks, or damage their constituent elements. This paper considers methods self-assembly, bringing together robotic modules form larger organism-like structures, self-repair, removing replacing faulty damaged by internal events environmental phenomena, which allow group tasks for multi-robot organism continue progress while assembly repair take place. We show that such “in motion” strategies can successfully assemble a range structures. Previously developed self-assembly self-repair required be halted before they could begin. finds able operate during faster completion task than previous strategies, provide reliability benefits in some circumstances. The practicality these new is shown with physical hardware demonstrations. These results feasibility assembling repairing whilst other are progress.