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Making self-disassembling objects with multiple components in the Robot Pebbles system

Gilpin, Kyle and Koyanagi, Kent and Rus, Daniela (2011) Making self-disassembling objects with multiple components in the Robot Pebbles system. In: 2011 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 3614-3621. ISBN 978-1-61284-385-8. https://resolver.caltech.edu/CaltechAUTHORS:20170228-170413505

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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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2011.5980305DOIArticle
http://ieeexplore.ieee.org/document/5980305/PublisherArticle
Additional Information:© 2011 IEEE. The authors would like to thank the reviewers for their insightful feedback. This work is supported by DARPA and the US Army research office under grant number W911NF-08-1-0228, NSF EFRI grant number 0735953, Intel and the NDSEG fellowship program.
Funders:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
Army Research Office (ARO)W911NF-08-1-0228
NSFEFMA-0735953
IntelUNSPECIFIED
National Defense Science and Engineering Graduate (NDSEG) FellowshipUNSPECIFIED
Record Number:CaltechAUTHORS:20170228-170413505
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170228-170413505
Official Citation:K. Gilpin, K. Koyanagi and D. Rus, "Making self-disassembling objects with multiple components in the Robot Pebbles system," 2011 IEEE International Conference on Robotics and Automation, Shanghai, 2011, pp. 3614-3621. doi: 10.1109/ICRA.2011.5980305
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:74620
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:01 Mar 2017 01:51
Last Modified:03 Oct 2019 16:40

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