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First International Conference on Self-Adaptive and Self-Organizing Systems (SASO 2007)
Robot Search in 3D Swarm Construction
Cambridge, Massachussets
July 09-July 11
ISBN: 0-7695-2906-2
Justin Werfel, Harvard University
Robots in a swarm construction system need to be able to find their way to all potential places to add material to a structure. In two dimensions, a (trivial) procedure exists for a stateless robot moving along the outside of a struc- ture, that will let it start at any point, take it to all potential attachment sites exactly once, and return it to its starting point, regardless of what part of the structure has already been built. Here we show that for three-dimensional struc- tures made from cubic building blocks, where each exposed face of a block is a potential attachment site, no such proce- dure exists. Any robot search scheme must then necessarily involve excess movement and/or increased component com- plexity (e.g., memory or communication).
Citation:
Justin Werfel, "Robot Search in 3D Swarm Construction," saso, pp.363-366, First International Conference on Self-Adaptive and Self-Organizing Systems (SASO 2007), 2007
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