A Grammatical Approach to Self-Organizing Robotic Systems
BibTeX
@MISC{_agrammatical,
author = {},
title = {A Grammatical Approach to Self-Organizing Robotic Systems},
year = {}
}
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Abstract
Abstract — In this paper we define a class of graph grammars that can be used to model and direct concurrent robotic selfassembly and similar self-organizing processes. We give several detailed examples of the formalism and then focus on the problem of synthesizing a grammar so that it generates a given, prespecified assembly. In particular, to generate an acyclic graph we synthesize a binary grammar (rules involve at most two parts), and for a general graph we synthesize a ternary grammar (rules involve at most three parts). In both cases, we characterize the number of concurrent steps required to achieve the assembly. We also show a general result that implies that no binary grammar can generate a unique stable assembly. We conclude the paper with a discussion of how graph grammars can be used to direct the self-assembly of robotic parts. I.
