What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots
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ae731877a8e5790fc9c13304ecaf90e41ea3.pdf
Description
Accepted version
Size
698.37 KB
Format
Adobe PDF
Checksum (MD5)
47e8e84f11a2b621bbd7aa47432f73d6
Author(s)
Gilpin, Kyle W
Rus, Daniela L
Date Issued
2013
Journal
Robotics: Science and Systems VIII
Publisher
MIT Press
Citation
Gilpin, Kyle W. and Daniela Rus. "What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots." Robotics: Science and Systems VIII, edited by Nicholas Roy, Paul Newman and Siddhartha Srinivasa, 2013, 89-96. © 2013 Massachusetts Institute of Technology
Version
Author's final manuscript
Abstract
Our goal is to develop an automated digital fabrication process that can make any object out of smart materials. In this paper, we present an algorithm for creating shapes by the process of duplication, using modules we have termed smart sand. The object to be duplicated is dipped into a bag of smart sand; the particles exchange messages to sense the object's shape; and then the particles selectively form mechanical bonds with their neighbors to form a duplicate of the original. Our algorithm is capable of duplicating convex and concave 3D objects in a completely distributed manner. It uses O(1) storage space and O(n) inter-module messages per module. We perform close to 500 experiments using a realistic simulator with over 1400 modules. These experiments confirm the functionality and messaging demands of our distributed duplication algorithm while demonstrating that the algorithm can be used to form interesting and useful shapes.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
MIT Schwarzmann College of Computing
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://ieeexplore.ieee.org/document/6578001
