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The paper seeks to present an innovative Bio-mimicking approach that utilizes Cyber-Physical Systems technology as a construction system based on a Knowledge-Based System that can ease the integration of this technology to the built environment. The paper starts by reviewing the relation between biological and architectural systems. Then it moves to bio-mimicking as a sustainability achieving approach and executes a review for growth phenomenon and self-organizing process. It then tracks the current paradigms of architectural robotics, with a specific focus on cyber-physical systems. After that, it comprehensively analyses an especially developed knowledge-based system that is architecturally oriented to control the construction process based on cyber-physical systems. Finally, the paper presents a successful construction process simulation for a complex case study based on a previously developed cyber-physical systems prototype to examine the functionality of the knowledge-based system, especially on generating and modifying building configurations. The paper represents a benchmark for creating a comprehensive and functional software for the using cyber-physical systems on the built environment field; however, there are some remaining obstacles, especially on the hardware level. Additionally, there is a critical need for real-time experiments to validate the cyber-physical systems as a reliable construction system.

The paper seeks to present an innovative Bio-mimicking approach that utilizes Cyber-Physical Systems technology as a construction system based on a Knowledge-Based System that can ease the integration of this technology to the built environment. The paper starts by reviewing the relation between biological and architectural systems. Then it moves to bio-mimicking as a sustainability achieving approach and executes a review for growth phenomenon and self-organizing process. It then tracks the current paradigms of architectural robotics, with a specific focus on cyber-physical systems. After that, it comprehensively analyses an especially developed knowledge-based system that is architecturally oriented to control the construction process based on cyber-physical systems. Finally, the paper presents a successful construction process simulation for a complex case study based on a previously developed cyber-physical systems prototype to examine the functionality of the knowledge-based system, especially on generating and modifying building configurations. The paper represents a benchmark for creating a comprehensive and functional software for the using cyber-physical systems on the built environment field; however, there are some remaining obstacles, especially on the hardware level. Additionally, there is a critical need for real-time experiments to validate the cyber-physical systems as a reliable construction system. [ABSTRACT FROM AUTHOR]

Motion planning for self-reconfiguring robots can be made efficient by exploiting potential reductions to suitably large subspaces. However, there are no general techniques for identifying suitable restrictions that have a positive effect on planning efficiency. We present two approaches to understanding the structure that is required of the subspaces, which leads to improvement in efficiency of motion planning. This work is presented in the context of a specific motion planning procedure for a hexagonal metamorphic robot. First, we use ideas from spectral graph theory – empirically estimating the algebraic connectivity of the state space – to show that the HMR model is better structured than many alternative motion catalogs. Secondly, using ideas from graph minor theory, we show that the infinite sequence of subspaces generated by configurations containing increasing numbers of subunits is well ordered, indicative of regularity of the space as complexity increases. We hope that these principles could inform future algorithm design for many different types of self-reconfiguring robotics problems. [ABSTRACT FROM AUTHOR]