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Pattern generation in cellular robotic systems

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2 Author(s)
Jing Wang ; Center for Robotic Syst., California Univ., Santa Barbara, CA, USA ; Beni, G.

A computational model of cellular robotic systems (CRSs) is introduced. It employs a large (but finite) number of autonomous robots operating on a cellular space under distributed control. No synchronous clock or shared memory is assumed. Robots in such systems have to cooperate to accomplish prespecified global tasks under the government of a protocol. The problem of robots in a CRS spatially rearranging themselves to form desired patterns within the field of operation is discussed. Example protocols that generate alternating and arbitrarily predefined patterns in one-dimensional linear arrangements and protocols that make robots seal one side or all sides of two-dimensional grids are presented. Mathematical proofs of the correctness of these protocols have been obtained. A Sun-Unix based simulation platform has been implemented upon which the pattern forming protocols are exercised

Published in:

Intelligent Control, 1988. Proceedings., IEEE International Symposium on

Date of Conference:

24-26 Aug 1988