仅靠接触信号实现模块机器人自组装定位，无需外部设备。
Contact-Driven Localization in a Freeform Robotic Self-Assembled Structure
- 利用接触有无信息构建虚拟力场，迭代优化位置。
- 仿真中成功完成塔和悬臂结构的精准自组装。
- 适合低成本、无外设环境下的可重构机器人系统。
精确定位仍是集群机器人领域的一大挑战，尤其在需形成多种形态的自重构系统中。现有方法多依赖外部追踪设施或高成本传感器，限制了其在非结构化环境中的可扩展性。本文提出一种新型接触驱动定位方法，适用于模块化机器人，仅通过二值接触信息（两机器人是否物理连接）进行本地通信。为利用这些接触线索，引入虚拟力框架，机器人通过吸引已连接邻居、排斥未连接邻居来逐步修正自身位姿。该方法无需外部基础设施，仅依赖最低限度的机载感知。仿真结果表明，在塔和悬臂结构的装配过程中实现了有效定位，支持准确、可扩展的自由形态自组装。
原文摘要 · Abstract (English)
Accurate localization remains a key challenge in swarm robotics, particularly for self-reconfigurable systems that must identify relative positions to form diverse structures. Most existing approaches rely on external tracking infrastructure or high-cost sensors, which limit scalability and deployment in unstructured environments. In this paper, we propose a novel contact-driven localization method for modular robots that leverages only local communication through binary contact information (whether two robots are physically connected or not). To exploit these contact cues, we introduce a virtual-force framework in which robots iteratively refine their poses attracting toward dock-connected neighbors and repelling from non-connected ones. The method requires no external infrastructure and relies only on minimal onboard sensing. Simulations show effective localization during the assembly of towers and cantilevers, enabling accurate, scalable, free-form self-assembly.
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