Journal
PROCEEDINGS OF THE IEEE
Volume 96, Issue 9, Pages 1490-1508Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JPROC.2008.927352
Keywords
Brownian motion; formation; growth; macroscopic; modular robotics; self-assembly; self-propelled; selfreconfiguration; self-repair; self-replication; taxonomy
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Funding
- BRIDGET
- European Commission [MKTD-CD-2005-029961]
- Marie Curie Intra-European Fellowship [IST FET]
- SWARMANOID, European Commission [IST-022888]
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In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the design of 21 such systems, exhibiting components ranging from passive mechanical parts to mobile robots. we present a taxonomy of the systems and discuss design principles and functions. Finally, we summarize the main achievements and indicate potential directions for future research.
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