Published May 2011
| public
Book Section - Chapter
Making self-disassembling objects with multiple components in the Robot Pebbles system
- Creators
- Gilpin, Kyle
- Koyanagi, Kent
- Rus, Daniela
Abstract
This paper describes several novel algorithms for shape formation by subtraction in programmable matter systems. These algorithms allow the simultaneous formation of multiple different shapes from a single block of host material. The resulting shapes are allowed to intertwine in arbitrarily complex ways. We also present a proof that the algorithms operate correctly to form the desired shapes. Finally, we show experimental results from close to 100 trials using both the Robot Pebbles hardware and a unique software simulator. Multiple trials of several different experiments demonstrate the algorithms operating correctly.
Additional Information
© 2011 IEEE. The authors would like to thank the reviewers for their insightful feedback. This work is supported by DARPA and the US Army research office under grant number W911NF-08-1-0228, NSF EFRI grant number 0735953, Intel and the NDSEG fellowship program.Additional details
- Eprint ID
- 74620
- Resolver ID
- CaltechAUTHORS:20170228-170413505
- Defense Advanced Research Projects Agency (DARPA)
- W911NF-08-1-0228
- Army Research Office (ARO)
- EFMA-0735953
- NSF
- Intel
- National Defense Science and Engineering Graduate (NDSEG) Fellowship
- Created
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2017-03-01Created from EPrint's datestamp field
- Updated
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2021-11-11Created from EPrint's last_modified field