Simulation and experiments of the simultaneous self-assembly for modular swarm robots

Document Type

Conference Proceeding

Publication Date



Department of Electrical and Computer Engineering


In our previous work, we have proposed a distributed self-assembly method based on Sambot platform. But there have interference of the infrared sensors between multiple Sambots. In this paper, two interference problems with multiple DSAs are solved and a novel simultaneous self-assembly method is proposed to enhance the efficiency of the self-assembly of modular swarm robots. Meanwhile, the simulation platform is established; some simulation experiments for various configurations are made and the results are analyzed for finding out evidence for further improvement. The simulation and physical experiment results verify the effectiveness and scalability of the simultaneous self-assembly algorithm which is more effective to shorten the assembly time.

Publication Title

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)