Graduated Spatial Pattern formation of Micro Robot Group

Abstract

This study proposes how to make a spatial pattern of a micro robot group in distributed autonomous systems. The autonomous formation of spatial pattern is important for the advancement of cooperative robotic systems. Although some people are also studying about spatial pattern formation by the swarm of robots, their way of pattern formation is mainly that robot can get global information such as the positions of all robots. However, micro robot is not usually able to get such information because micro robot’s scale effect restricts their functions. Therefore, we propose the method of spatial complicated pattern without getting global information. Then we propose a dynamical spatial pattern formation using CA theory, and examine the group behavior with actual hardware, micro robot “MARS„. Finally, we propose inverse design of a more complicated polygon pattern formation from a circle state using Turing Instability theory.