Title :
Robotic morphogenesis
Author :
Liang, Ping ; Ben, Gerardo
Author_Institution :
Coll. of Eng., California Univ., Riverside, CA, USA
Abstract :
A new, biologically motivated approach to self-organizing pattern formation and function determination in a distributed array of many identical cells is presented. Methods for asynchronous pattern formation using linear swarm models, pattern formation by boundary pattern generation and propagation, and differentiation by message coding are proposed. A gradient descent based algorithm for linear swarms that guarantees convergence is introduced. 2D pattern formation in an array of identical cells is demonstrated by simulation
Keywords :
cellular automata; conjugate gradient methods; robots; self-adjusting systems; 2D pattern formation; asynchronous pattern formation; biologically motivated approach; boundary pattern generation; boundary pattern propagation; differentiation; distributed array; function determination; gradient descent based algorithm; linear swarm models; message coding; robotic morphogenesis; self-organizing pattern formation; Biological system modeling; Biology computing; Cells (biology); Clocks; Computational modeling; Difference equations; Embryo; Partial differential equations; Pattern formation; Robots;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525582
