## A Grammatical Approach to Self-Organizing Robotic Systems

### BibTeX

@MISC{_agrammatical,

author = {},

title = {A Grammatical Approach to Self-Organizing Robotic Systems},

year = {}

}

### OpenURL

### 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.