Self-assembly with simple robotic agents

One of the most graceful phenomena widely observed in nature is self-assembly: living systems spontaneously assemble their body structure through the developmental process. Because of this case, we believe that the concept of self-assembly becomes undeniably indispensable in artificial systems as they increase in size and complexity. Based on this consideration, we intend to deal with the emergent self-assembly with both explicit and implicit control mechanism and represent developed multi-robotic system that enables spontaneous self-assembly and self-repair of a damaged shape due to a disturbance input. Note that this study considers form generation by self-assembly as the result of the time evolution toward the most dynamically stable state, i.e., the equilibrium state.