Using Differential Adhesion to Control Self-Assembly and Self-Repair of Collections of Modular Mobile Robots
dc.contributor.advisor
Hallam, John
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dc.contributor.author
Ottery, Peter
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dc.date.accessioned
2006-08-09T17:12:58Z
dc.date.available
2006-08-09T17:12:58Z
dc.date.issued
2006-06
dc.description
Institute of Perception, Action and Behaviour
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dc.description.abstract
This thesis presents a novel distributed control method which allows a collection
of independently mobile robotic units, with two or three dimensional movement, to
self-assemble into self-repairing hierarchical structures. The proposed method utilises
a simple model of the cellular adhesion mechanisms observed in biological cells, allowing
the robotic units to form virtually bonded aggregates which behave as predicted
by Steinberg’s differential adhesion hypothesis.
Simulated robotic units based on the design of the subaquatic HYDRON module
are introduced as a possible platform on which the model can be implemented. The
units are used to carry out a detailed investigation of the model behaviour and parameter
space focusing on the two main tasks of rounding and sorting in both two and
three dimensions. These tasks assess the model’s ability to reach a thermodynamically
stable configuration when the aggregates consist of either a single population of units
or multiple populations of units with differing adhesive properties. The results are
analysed in detail with particular attention given to the role of random movements in
determining the overall performance, and demonstrate that this model provides a very
robust solution to these complex tasks.
Finally, a possible extension of this work is presented in which the original model
is combined with a genetic regulatory network controller. The performance of this
composite is evaluated, and the benefits of this hybrid approach, in which a powerful
control system manipulates a robust self-organising behaviour, are discussed.
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dc.format.extent
5735620 bytes
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dc.format.mimetype
application/pdf
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dc.identifier.uri
http://hdl.handle.net/1842/1396
dc.language.iso
en
dc.publisher
University of Edinburgh. College of Science and Engineering. School of Informatics.
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dc.subject.other
Phd thesis
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dc.subject.other
self-repairing hierarchical structures
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dc.subject.other
robot
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dc.subject.other
HYDRON module
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dc.title
Using Differential Adhesion to Control Self-Assembly and Self-Repair of Collections of Modular Mobile Robots
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dc.type
Thesis or Dissertation
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dc.type.qualificationlevel
Doctoral
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dc.type.qualificationname
PhD Doctor of Philosophy
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