T-Bot: A Programmable Platform for Morphogenesis in Robot Swarms

The field of robotic self-organizing morphogenesis has traditionally relied on sensing and feedback mechanisms, limiting the robustness of robotic systems in dynamic environments. Recently, the swarms of robots with minimum computational and perceptional capabilities have been developed to achieve global morphogenesis through physical interactions among robots. The automation level of these systems, however, is still limited. Here, we developed the T-bot platform, which is capable of automatic programming. The T-bot system adopts a rule-based control strategy utilizing programmable, automatically switched magnetic shells. These shells mimic differences in cell adhesion by altering the magnetic distribution along the shell, achieving morphogenesis without external sensors or feedback mechanisms. This design improves the robustness of the robotic system. The T-bot assembles pieces to form specific shapes and automatically adjusts its morphology according to task requirements. The T-bot system demonstrates morphogenesis by transitioning between predefined shapes and maintaining effectiveness even when some components fail. The successful application of DAH-inspired programmable magnetic shells opens new avenues for the design of intelligent robotic systems, potentially transforming their applications in various dynamic and unpredictable environments.