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Regulated Morphogen Gradients for Target Surrounding and Adaptive Shape Formation

Shirazi, Ataollah Ramezan and Jin, Yaochu (2020) Regulated Morphogen Gradients for Target Surrounding and Adaptive Shape Formation IEEE Transactions on Cognitive and Developmental Systems.

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Abstract

In swarm robotics, developing algorithms for self-organizing minimalistic robots has become a popular research topic. Unlike others, minimalistic robots may not be able to self-localize themselves, making it very challenging to accomplish missions such as surrounding a target, whose position is typically unknown. In target surrounding, reaching a target and joining the swarm do not always lead to a satisfactory enclosure of the target. Furthermore, it is impossible for individual minimalistic robots to figure out what a global shape of the swarm should be without a collective decision-making. In this research, we make use of diffusion and reaction of two morphogens for target surrounding and formation of a circular shape swarm. We show that the proposed method is able to adaptively form shapes surrounding multiple targets. Computer simulations and physical experiments using Kilobots are performed to assess the performance of the proposed algorithm.

Item Type: Article
Divisions : Faculty of Engineering and Physical Sciences > Computer Science
Authors :
NameEmailORCID
Shirazi, Ataollah Ramezan
Jin, YaochuYaochu.Jin@surrey.ac.uk
Date : 30 March 2020
Funders : European Commission 7th Framework Programme
DOI : 10.1109/TCDS.2020.2984087
Grant Title : SWARM-ORGAN
Copyright Disclaimer : © 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Depositing User : Clive Harris
Date Deposited : 04 Jun 2020 11:28
Last Modified : 04 Jun 2020 11:28
URI: http://epubs.surrey.ac.uk/id/eprint/857068

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