Self-Replicating Hierarchical Modular Robotic Swarms

Code for the paper: "Self-Replicating Hierarchical Modular Robotic Swarms".

Interactive Web Demos

• Robot Self-Replication
• Discrete Robotic Parametric Design Tool
• Serial Vs Hierarchical Construction
• Build Sequence Visualization
• Small Path Planning Demo (2 levels)
• Large Path Planning (3 levels)

Copyright

(c) Massachusetts Institute of Technology 2022. All rights reserved.

Citation

Amira Abdel-Rahman, Christopher Cameron, Benjamin Jenett, Miana Smith and Neil Gershenfeld. Self-Replicating Hierarchical Modular Robotic Swarms. Nature Communications Engineering. Under review.

@article{,
  title={Self-Replicating Hierarchical Robotic Swarms},
  author={Abdel-Rahman, Amira and Cameron, Christopher and Jenett, Benjamin and Smith, Miana and Gershenfeld, Neil},
  journal={Communications Engineering},
  volume={},
  number={},
  pages={},
  year={2022},
  publisher={Nature Publishing Group}
}

Related Work

Code was also used for the swarm simulations in:

Benjamin Jenett, Amira Abdel-Rahman, K. Cheung, and Neil Gershenfeld. Material-robot system For assembly of discrete cellular structures. In Robotics and Automation Letters (RA-L). IEEE, 2019. Link.