模块化系统通过局部信息交换实现自生长与再生，无需外部计算。
Internalized Morphogenesis: A Self-Organizing Model for Growth, Replication, and Regeneration via Local Token Exchange in Modular Systems
- 模块间仅通过局部令牌交换实现自组织形态变化。
- 模拟显示可生成肢体、自分裂并修复损伤结构。
- 适合资源受限的微纳机器人与群体机器人系统。
本研究提出一种内生形态发生模型，适用于蜂群机器人、微纳米机器等自主系统，无需依赖外部空间计算。传统自组织模型需在整个坐标空间进行计算，包括空区域，这对资源受限的物理模块不现实。本文模型通过模块间“身体”内部的严格局部交互实现复杂形态演化。基于伊势达令牌模型，模块采用受反应扩散启发的离散模拟方式交换整数值，无需求解微分方程。内部势能由令牌累积与老化决定，驱动自主生长、收缩与复制。在六边形网格上的模拟展示了肢体样延伸、自我分裂及结构切除后的强鲁棒性再生能力。关键特征是将身体边界作为信息熵（令牌）的自然消散源，维持动态平衡。结果表明，复杂形态行为可由极简的内部规则自发涌现。该框架为开发自修复、自适应、自主硬件提供了高效且生物合理的计算路径。
原文摘要 · Abstract (English)
This study presents an internalized morphogenesis model for autonomous systems, such as swarm robotics and micro-nanomachines, that eliminates the need for external spatial computation. Traditional self-organizing models often require calculations across the entire coordinate space, including empty areas, which is impractical for resource-constrained physical modules. Our proposed model achieves complex morphogenesis through strictly local interactions between adjacent modules within the "body." By extending the "Ishida token model," modules exchange integer values using an RD-inspired discrete analogue without solving differential equations. The internal potential, derived from token accumulation and aging, guides autonomous growth, shrinkage, and replication. Simulations on a hexagonal grid demonstrated the emergence of limb-like extensions, self-division, and robust regeneration capabilities following structural amputation. A key feature is the use of the body boundary as a natural sink for information entropy (tokens) to maintain a dynamic equilibrium. These results indicate that sophisticated morphological behaviors can emerge from minimal, internal-only rules. This framework offers a computationally efficient and biologically plausible approach to developing self-repairing, adaptive, and autonomous hardware.
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