用简单机器人实现无间隙任意形状组装。
Huddle: Parallel Shape Assembly using Decentralized, Minimalistic Robots
- 基于局部交互的去中心化算法，避免组装死区
- 成功构建107个机器人的完整组装体
- 无需定位或同步，适合大规模异步部署
我们提出一种新型算法，利用去中心化机器人形成任意形状的组装体。通过局部交互，算法确保组装过程中不存在不可达状态或间隙等全局缺陷。组装中的机器人通过简单的信号传递与对齐机制，吸引经过的机器人加入并扩展结构。该方法极简，仅需相邻连接机器人之间的通信；具备运动无关性，无需姿态定位，支持异步、无序组装。我们证明了算法的正确性，并在实验中成功实现了107个机器人的组装。
原文摘要 · Abstract (English)
We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly, which are global properties. The in-assembly robots attract passing-by robots into expanding the assembly via a simple implementation of signaling and alignment. Our approach is minimalistic, requiring only communication between attached, immediate neighbors. It is motion-agnostic and requires no pose localization, enabling asynchronous and order-independent assembly. We prove the algorithm's correctness and demonstrate its effectiveness in forming a 107-robot assembly.
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