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SELF-ASSEMBLY AND SELF-REPAIR BY ROBOT SWARMS
by
Daniel J. Arbuckle
A Dissertation Presented to the
FACULTY OF THE GRADUATE SCHOOL
UNIVERSITY OF SOUTHERN CALIFORNIA
In Partial Fulfillment of the
Requirements for the Degree
DOCTOR OF PHILOSOPHY
(COMPUTER SCIENCE)
August 2007
Copyright 2007 Daniel J. Arbuckle
Object Description
| Title | Self-assembly and self-repair by robot swarms |
| Author | Arbuckle, Daniel J. |
| Author email | djarb@highenergymagic.org |
| Degree | Doctor of Philosophy |
| Document type | Dissertation |
| Degree program | Computer Science |
| School | Viterbi School of Engineering |
| Date defended/completed | 2007-06-19 |
| Date submitted | 2007 |
| Restricted until | Unrestricted |
| Date published | 2007-07-09 |
| Advisor (committee chair) | Requicha, Aristides A.G. |
| Advisor (committee member) |
Shen, Wei-Min Sukhatme, Gaurav S. Thompson, Mark E. |
| Abstract | This dissertation describes a family of algorithms intended to be used to control simple robots, or smart components, during the process of self-assembly into a goal structure. Also explored are algorithms for repair of the goal structure under assorted conditions, and methods for generating the structure-specific programs required to control the robots as they perform these tasks. -- A progression of algorithms is explored in which robot state is externalized to progressively greater degrees, until all state is external. Fully externalized state allows the robots themselves to be simple reactive devices while at the same time facilitating greater functionality in the structure as a whole. -- The distributed algorithms presented here are tolerant of robot failures and of externally-induced disturbances. The structures are self-healing, and in some cases self-replicating to a limited extent. Their components can be re-used once the structures are no longer needed. |
| Keyword | swarm robotics; self-assembly |
| Language | English |
| Part of collection | University of Southern California dissertations and theses |
| Publisher (of the original version) | University of Southern California |
| Place of publication (of the original version) | Los Angeles, California |
| Publisher (of the digital version) | University of Southern California. Libraries |
| Type | texts |
| Legacy record ID | usctheses-m597 |
| Contributing entity | University of Southern California |
| Rights | Arbuckle, Daniel J. |
| Repository name | Libraries, University of Southern California |
| Repository address | Los Angeles, California |
| Repository email | cisadmin@dots.usc.edu |
| Filename | etd-Arbuckle-20070709 |
| Archival file | uscthesesreloadpub_Volume29/etd-Arbuckle-20070709-0.pdf |
Description
| Title | Page 1 |
| Contributing entity | University of Southern California |
| Repository email | cisadmin@dots.usc.edu |
| Full text | SELF-ASSEMBLY AND SELF-REPAIR BY ROBOT SWARMS by Daniel J. Arbuckle A Dissertation Presented to the FACULTY OF THE GRADUATE SCHOOL UNIVERSITY OF SOUTHERN CALIFORNIA In Partial Fulfillment of the Requirements for the Degree DOCTOR OF PHILOSOPHY (COMPUTER SCIENCE) August 2007 Copyright 2007 Daniel J. Arbuckle |
