Journal
AUTONOMOUS ROBOTS
Volume 10, Issue 1, Pages 7-21Publisher
SPRINGER
DOI: 10.1023/A:1026540318188
Keywords
self-repairing system; self-reconfiguration; distributed autonomous system; fault tolerance; fractum
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This paper reviews several types of self-repairing systems developed in the Mechanical Engineering Laboratory. We have developed a modular system capable of self-assembly and self-repair. The former means a set of units can form a given shape of the system without outside help; the latter means the system restores the original shape if an arbitrary part of the system is cut off. We show both two-dimensional and three-dimensional unit designs, and distributed algorithms for the units.
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