Self-assembly Planning of a Shape by Regular Modular Robots
نویسندگان
چکیده
We present a self-assembly planning algorithm to allow regular modular robots to assemble into some specified shapes. By tiling a shape using connected lattices in accordance with the robotic geometry, a parallel sequence is obtained to plan self-assembly in successive layers. Robots are identical and autonomous. They use local interactions to seek for a grown shape and update the connection information to determine the corresponding shape. We calculate self-assembly steps of different sizes of shapes to obtain the optimal initial node for square shapes and simulate the self-assembly process.
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