Title: Three-dimensional construction based on self-reconfigurable modular robots

Authors: Kiwon Yeom; Bum-Jae You

Addresses: Centre of Human Centred Interaction for Coexistence Seoul, Hwarang-ro 14 gil 5, Seongbuk-gu, Seoul, South Korea ' Centre of Human Centred Interaction for Coexistence Seoul, Hwarang-ro 14 gil 5, Seongbuk-gu, Seoul, South Korea

Abstract: This paper presents a decentralised approach to automatic construction of user-defined three-dimensional structures inspired by naturally occurring cells' characteristics. The proposed system enables guaranteed construction of user-specified structures by taking a high-level specification as the required input. This paper exploits a multitude shape formation method of simplistic modular agents which can self-organise their positions. This paper describes evolutionary morphogenesis to construct an arbitrary structure by swarms of multi-agents which are identical, independent, autonomous modular agents that can build three dimensional structures by means of developmental methods.

Keywords: evolutionary morphogeneis; self-organisation; self-reconfiguration; federation of agents; 3D construction; self-reconfigurable robots; modular robots; shape formation; modular agents; multi-agent systems; MAS; agent-based systems; agent swarms; 3D structures; genetic encoding; multicellular agents; gene expression; cellular differentiation.

DOI: 10.1504/IJCSE.2015.073496

International Journal of Computational Science and Engineering, 2015 Vol.11 No.4, pp.368 - 379

Available online: 10 Dec 2015 *

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