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Making self-disassembling objects with multiple components in the Robot Pebbles system

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3 Author(s)
Gilpin, K. ; Comput. Sci. & Artificial Intell. Lab., MIT, Cambridge, MA, USA ; Koyanagi, K. ; Rus, D.

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.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011

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