Self-Stabilizing Self-Assembly
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21110%2F22%3A00360848" target="_blank" >RIV/68407700:21110/22:00360848 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/22:00360848
Result on the web
<a href="https://doi.org/10.1109/LRA.2022.3191795" target="_blank" >https://doi.org/10.1109/LRA.2022.3191795</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2022.3191795" target="_blank" >10.1109/LRA.2022.3191795</a>
Alternative languages
Result language
angličtina
Original language name
Self-Stabilizing Self-Assembly
Original language description
The emerging field of passive macro-scale tile-based self-assembly (TBSA) shows promise in enabling effective manufacturing processes by harnessing TBSA's intrinsic parallelism. However, current TBSA methodologies still do not fulfill their potentials, largely because such assemblies are often prone to errors, and the size of an individual assembly is limited due to insufficient mechanical stability. Moreover, the instability issue worsens as assemblies grow in size. Using a novel type of magnetically-bonded tiles carried by bristle-bot drives, we propose here a framework that reverses this tendency; i.e., as an assembly grows, it becomes more stable. Stability is achieved by introducing two sets of tiles that move in opposite directions, thus zeroing the assembly net force. Using physics-based computational experiments, we compare the performance of the proposed approach with the common orbital shaking method, proving that the proposed system of tiles indeed possesses self-stabilizing characteristics. Our approach enables assemblies containing hundreds of tiles to be built, while the shaking approach is inherently limited to a few tens of tiles. Our results indicate that one of the primary limitations of mechanical, agitation-based TBSA approaches, instability, might be overcome by employing a swarm of free-running, sensorless mobile robots, herein represented by passive tiles at the macroscopic scale.
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
2022
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
7
Issue of the periodical within the volume
4
Country of publishing house
US - UNITED STATES
Number of pages
7
Pages from-to
9763-9769
UT code for WoS article
000831182500059
EID of the result in the Scopus database
2-s2.0-85135242097