ICRA 2011 Paper Abstract


Paper WeP106.1

Gilpin, Kyle (Massachusetts Institute of Technology), Koyanagi, Kent (California Institute of Technology), Rus, Daniela (MIT)

Making Self-Disassembling Objects with Multiple Components in the Robot Pebbles System

Scheduled for presentation during the Regular Sessions "Micro-Nano Robots III" (WeP106), Wednesday, May 11, 2011, 13:40−13:55, Room 5A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Cellular and Modular Robots, Distributed Robot Systems, Networked Robots


This paper describes several novel algorithms for shape formation by subtraction in programmable matter systems. These algorithms allow the simultaneous formation of multiple different shapes from a single block of host material. The resulting shapes are allowed to intertwine in arbitrarily complex ways. We also present a proof that the algorithms operate correctly to form the desired shapes. Finally, we show experimental results from close to 100 trials using both the Robot Pebbles hardware and a unique software simulator. Multiple trials of several different experiments demonstrate the algorithms operating correctly.



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