https://github.com/hsprcode/self-assembling-structures-using-multi-robot-system

Developed and simulated a randomly scattered collective of robots with sensors to self-assemble into any given connected shape, using gradient information derived from the desired shape.
https://github.com/hsprcode/self-assembling-structures-using-multi-robot-system

image-processing multirobot robotics self-assembly

Last synced: about 1 month ago
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Developed and simulated a randomly scattered collective of robots with sensors to self-assemble into any given connected shape, using gradient information derived from the desired shape.

• Host: GitHub
• URL: https://github.com/hsprcode/self-assembling-structures-using-multi-robot-system
• Owner: hsprcode
• Created: 2021-01-13T05:55:04.000Z (about 4 years ago)
• Default Branch: main
• Last Pushed: 2021-01-13T06:11:22.000Z (about 4 years ago)
• Last Synced: 2024-07-29T04:12:48.466Z (6 months ago)
• Topics: image-processing, multirobot, robotics, self-assembly
• Language: MATLAB
• Homepage:
• Size: 1.2 MB
• Stars: 2
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Self-assembling-structures-using-Multi-Robot-System

## Gradient information

Gradient information derived from the desired shape (img4.png, can be changed to any connected shape), using the code in pixe2.m.

## Robot Environment and Simulation

Mobile robotics simulation toolbox in MATLAB is used to create a simulation environment, to define individual robot equations and parameters, to enable the robots with lidar like sensing capabilities. Simulations of the robots moving in a 2D environment to assemble into a structure are performed.

Toolbox can be downloaded from: https://github.com/mathworks-robotics/mobile-robotics-simulation-toolbox

The code fin3.m use the gradient information and the toolbox to create the robots and simulate them.

The final simulation can be seen in the file final-simulation.gif