By Topic

Extended stigmergy in collective construction

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Werfel, J. ; Comput. Sci. & Artificial Intelligence Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA ; Nagpal, R.

We've described a scheme by which a swarm of robots can automatically assemble solid structures of square building blocks in two dimensions according to a high-level user-specified design. We discuss the use of extended stigmergy: augmenting the basic notion of stigmergy by increasing the capabilities of environmental elements. In this construction setting, the elements are the building blocks, the basic information they carry is the simple fact of their presence at a location, and extensions include cases where they can store additional information, perform computations, and/or communicate with physically attached neighbors. Benefits can include increased robustness and faster completion of a desired structure. We review three variants of that construction scheme that use extended stigmergy to different degrees. We focus on analysis of the algorithms and their comparative performance, mainly theoretical but also through simulation experiments.

Published in:

Intelligent Systems, IEEE  (Volume:21 ,  Issue: 2 )