Autonomous Morphogenesis in Self-assembling Robots Using IR-Based Sensing and Local Communications

This paper presents a simple decentralised morphology control mechanism for a swarm of self-assembling robots. Each robot in the system is fully autonomous and controlled using a behaviour-based approach with only infrared-based local sensing and communications. A graph-based recruitment strategy is proposed to guide the growth of 2D planar organisms, and local communications are used to self-organise the behaviours of robots during the morphogenesis process. The effectiveness of the approach has been verified, in simulation, for a diverse set of target structures.