Making Self-Disassembling Objects with Multiple Components in the Robot Pebbles System
This paper describes several novel algorithms for shape formation by subtraction in programmable matter systems. These algorithms allow the simultaneous formation of multiple different shapes from a single block of host material. The resulting shapes are allowed to intertwine in arbitrarily complex ways. We also present a proof that the algorithms operate correctly to form the desired shapes. Finally, we show experimental results from close to 100 trials using both the Robot Pebbles hardware and a unique software simulator. Multiple trials of several different experiments demonstrate the algorithms operating correctly.
Kyle Gilpin Kent Koyanagi Daniela Rus
the Computer Science and Arti-ficial Intelligence Lab,MIT,Cambridge,MA,02139 Class of 2012 at Caltech
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3614-3621
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）