Making self-disassembling objects with multiple components in the Robot Pebbles system
Name
Gilpin-ICRA11-MultipleComponentRobotPebbles.pdf
Description
Accepted version
Size
266.85 KB
Format
Adobe PDF
Checksum (MD5)
eaef637395c12a24341179365fc9223e
Author(s)
Gilpin, Kyle
Koyanagi, Kent
Rus, Daniela
Date Issued
May 2011
Publisher
IEEE
Citation
Gilpin, Kyle, Koyanagi, Kent and Rus, Daniela. 2011. "Making self-disassembling objects with multiple components in the Robot Pebbles system."
Version
Author's final manuscript
Abstract
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. © 2011 IEEE.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/icra.2011.5980305
