Towards a Passive Self-Assembling Macroscale Multi-Robot System
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21110%2F21%3A00351395" target="_blank" >RIV/68407700:21110/21:00351395 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/21:00351395
Result on the web
<a href="https://doi.org/10.1109/LRA.2021.3096748" target="_blank" >https://doi.org/10.1109/LRA.2021.3096748</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2021.3096748" target="_blank" >10.1109/LRA.2021.3096748</a>
Alternative languages
Result language
angličtina
Original language name
Towards a Passive Self-Assembling Macroscale Multi-Robot System
Original language description
The combined efforts of theoretical computer science, biochemistry, and nanotechnology have enabled the design of tile-based systems capable of self-assembling intricate patterns in a massively parallel manner, with low error rates, and applications ranging from DNA computing to microelectronics. However, as the underlying physical and chemical principles do not directly translate from micro to the macroscale, the transition to centimeter-scale systems remains challenging. In this contribution, we propose a framework for designing macroscale passive robots (tiles) capable of targeted self-assembly under uncontrolled external mechanical excitation. Self-assembly at this scale is achieved by using properly designed magneto-mechanical locks (glues) to accomplish jamming-free assembly, a dedicated encoding of glues to guide tile interactions, and consistent formalization of geometrical constraints that ensure the valid assembly. The potential of our framework is demonstrated by the errorless assembly of a chessboard pattern, thereby showing its robustness, three-fold increase in error recovery, and two-fold increase in growth rate, when compared to a fully magnetic approach.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/GX19-26143X" target="_blank" >GX19-26143X: Non-periodic pattern-forming metamaterials: Modular design and fabrication</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Robotics and Automation Letters
ISSN
2377-3766
e-ISSN
2377-3766
Volume of the periodical
6
Issue of the periodical within the volume
4
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
7293-7300
UT code for WoS article
000679531600015
EID of the result in the Scopus database
2-s2.0-85110884235