Journal
FRONTIERS IN ROBOTICS AND AI
Volume 3, Issue -, Pages -Publisher
FRONTIERS MEDIA SA
DOI: 10.3389/frobt.2016.00002
Keywords
self-assembly; autonomy; self-modification; introspection; adaption
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Funding
- Cross-Disciplinary Semiconductor Research (CSR) Program award from Semiconductor Research Corporation (SRC) [G15173]
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This paper discusses a novel approach to managing complexity in a large self-assembled system, by utilizing the self-assembling components themselves to address the complexity. A particular challenge is discussed namely the question of how to deal with elements that are assembled in different orientations from each other and a solution based on the idea of introspective circuitry is described. A methodology for using a set of cells to determine a nearby cell's orientation is given, leading to a slow (0(n)) means of orienting a 2D region of cells. A modified algorithm is then describe to allow parallel analysis of/adaption to dis-oriented cells, thus allowing re-orientation of an entire 2D region of cells with better-than-linear time performance (0(sort(n))). The significance of this work is discussed not only in terms of managing arrays of dis-oriented cells but also more importantly as an example of the usefulness of local, distributed self-configuration to create and use introspective circuitry.
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