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A Grammatical Approach to Self-Organizing Robotic Systems.
- Source :
- IEEE Transactions on Automatic Control; Jun2006, Vol. 51 Issue 6, p949-962, 14p, 12 Diagrams
- Publication Year :
- 2006
-
Abstract
- In this paper, we define a class of graph grammars that can be used to model and direct concurrent robotic self-assembly and similar self-organizing processes. We give several detailed examples of the formalism and then focus on the problem of synthesizing a grammar so that it generates a given, prespecified assembly. In particular, to generate an acyclic graph we synthesize a binary grammar (rules involve at most two parts), and for a general graph we synthesize a ternary grammar (rules involve at most three parts). In both cases, we characterize the number of concurrent steps required to achieve the assembly. We also show a general result that implies that no binary grammar can generate a unique stable assembly. We conclude the paper with a discussion of how graph grammars can be used to direct the self-assembly of robotic parts. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 51
- Issue :
- 6
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 21384342
- Full Text :
- https://doi.org/10.1109/TAC.2006.876950