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A morphogenetic framework for self-organized multirobot pattern formation and boundary coverage

Guo, H, Meng, Y and Jin, Y (2012) A morphogenetic framework for self-organized multirobot pattern formation and boundary coverage ACM Transactions on Autonomous and Adaptive Systems, 7 (1).

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Abstract

Embryonic development of multicellular organisms, also known as morphogenesis, is regarded as a robust self-organization process for pattern generation. Inspired by the recent findings in biology indicating that morphogen gradients, together with a Gene Regulatory Network (GRN), play a key role in biological patterning, we propose a framework for self-organized multirobot pattern formation and boundary coverage based on an artificial GRN model. The proposed framework does not need a global coordinate system, which makes it more practical to be implemented in a physical robotic system. Moreover, an adaptation mechanism is included in the framework so that the self-organization algorithm is robust to changes in the number of robots. Various case studies of multirobot pattern formation and boundary coverage show the effectiveness of the framework. © 2012 ACM.

Item Type: Article
Authors :
NameEmailORCID
Guo, HUNSPECIFIEDUNSPECIFIED
Meng, YUNSPECIFIEDUNSPECIFIED
Jin, YUNSPECIFIEDUNSPECIFIED
Date : April 2012
Identification Number : 10.1145/2168260.2168275
Depositing User : Symplectic Elements
Date Deposited : 28 Mar 2017 14:44
Last Modified : 31 Oct 2017 14:38
URI: http://epubs.surrey.ac.uk/id/eprint/710083

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