Abstract
A self-assembly algorithm for synchronising agents and have them arrange according to a particular graph is given. This algorithm, expressed using an ad hoc rule-based process algebra, extends Klavins' original proposal (Klavin, 2002: Automatic synthesis of controllers for assembly and formation forming. In: Proceedings of the International Conference on Robotics and Automation), in that it relies only on point-to-point communication, and can deal with any assembly graph whereas Klavins' method dealt only with trees.
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