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Supervised Morphogenesis: Morphology Control of Ground-based Self-assembling Robots by Aerial Robots

par Mathews, Nithin ;Stranieri, Alessandro ;Scheidler, Alexander ;Dorigo, Marco
Référence Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS, 11, page (97-104)
Publication Publié, 2012

Article révisé par les pairs

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Résumé :

In this paper, we study a heterogeneous robot team composed of self-assembling robots and aerial robots that cooperate with each other to carry out global tasks. We introduce supervised morphogenesis - an approach in which aerial robots exploit their better view of the environment to detect tasks on the ground that require self-assembly, and perform on-board simulations to determine the morphology most adequate to carry out the task. In case existing morphologies on the ground do not match those determined in simulation, aerial robots use a series of enabling mechanisms to initiate and control (hence supervise) the formation of morphologies more adequate to carry out the task. Supervised morphogenesis solely employs LEDs and camera-based local communication between the two robot types. We validate the applicability of our approach in a real-world scenario, in which ground-based robots are given the task to cross an unknown, undulated terrain by forming ad-hoc morphologies under the supervision of an aerial robot. Copyright © 2012, International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.