Agent Based Morphological Approach for Collaborative Shape Formation of Self-Organizable Unmanned Aerial Vehicles

摘要

This paper presents a decentralized approach, inspired by biological cells, for the automatic construction of user-defined three-dimensional structures. Using high-level specification as input, the proposed system enables the guaranteed construction of user-specified structures. This paper exploits a multitude shape formation method of simplistic modular agents which can self-organize their positions. We introduce a mobile molecular agent with binary, triad, or polymer interactions acting among individual molecules, taking the responsibilities for embodying its structure and determining where further units can be attached and detached. The process of attachment and detachment of each molecular agent are induced by morph genetic properties of molecular cells, and the shape formation is controlled by cellular automata. An approach was developed that allows for the construction of an arbitrary structure via swarms of identical, independent, and autonomous multi-agents. We also describe an analytic aspect of our model comparing with behavioral performances.