TY - GEN
T1 - FireAnt3D
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
AU - Swissler, Petras
AU - Rubenstein, Michael
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - Robotic self-assembly allows robots to join to form useful, on-demand structures. Unfortunately, the methods employed by most self-assembling robotic swarms compromise this promise of adaptability through their use of fixed docking locations, which impair a swarm's ability to handle imperfections in the structural lattice resulting from load deflection or imperfect robot manufacture; these concerns worsen as swarm size increases. Inspired by the amorphous structures built by cells and social insects, FireAnt3D uses a novel docking mechanism, the 3D continuous dock, to attach to like robots regardless of alignment. FireAnt3D demonstrates the use of the 3D continuous docks, as well as how a robot can use such docks to connect to like robots and locomote over arbitrary 3D arrangements of its peers. The research outlined in this paper presents a profoundly different approach to docking and locomotion during self-assembly and addresses longstanding challenges in the field of robotic self-assembly.
AB - Robotic self-assembly allows robots to join to form useful, on-demand structures. Unfortunately, the methods employed by most self-assembling robotic swarms compromise this promise of adaptability through their use of fixed docking locations, which impair a swarm's ability to handle imperfections in the structural lattice resulting from load deflection or imperfect robot manufacture; these concerns worsen as swarm size increases. Inspired by the amorphous structures built by cells and social insects, FireAnt3D uses a novel docking mechanism, the 3D continuous dock, to attach to like robots regardless of alignment. FireAnt3D demonstrates the use of the 3D continuous docks, as well as how a robot can use such docks to connect to like robots and locomote over arbitrary 3D arrangements of its peers. The research outlined in this paper presents a profoundly different approach to docking and locomotion during self-assembly and addresses longstanding challenges in the field of robotic self-assembly.
UR - http://www.scopus.com/inward/record.url?scp=85102405772&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85102405772&partnerID=8YFLogxK
U2 - 10.1109/IROS45743.2020.9341116
DO - 10.1109/IROS45743.2020.9341116
M3 - Conference contribution
AN - SCOPUS:85102405772
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3340
EP - 3347
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 24 October 2020 through 24 January 2021
ER -