A Dynamical Approach to Self-assembly Inspired by Ontogenetic Process

本研究讨论了利用具有简单运动功能的多机器人系统实现自组装。本研究的一个重要特征是将自组装的形式生成视为时间向最动态稳定状态演化的结果。因此，该方法无需对算法进行任何修改，也能满足显著的自修复能力。我们还通过构建大约20个真实的物理机器人代理来验证我们提出的方法。实验结果表明，该方法实现了稳定、自发的自组装。

This study discussed the realization of self-assembly with the use of a multi-robotic system each of which has simple motile function. A significant feature of this study is that form generation by self-assembly is considered as the result of time evolution toward the most dynamically stable state. Owing to this, the proposed method also satisfies significant ability of self-repair without making any modification to the proposed algorithm. We also validated our proposed method by building about 20 real physical robotic agents. Experimental results show that stable and spontaneous self-assembly is achieved.