Huddle: Parallel Shape Assembly using Decentralized, Minimalistic Robots
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866917351670153216 |
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| author | Chin, Khai Yi Meng, Tingwei Chen, Zhe Bassett, Daniel Ivanov, Yuri |
| author_facet | Chin, Khai Yi Meng, Tingwei Chen, Zhe Bassett, Daniel Ivanov, Yuri |
| contents | We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly, which are global properties. The in-assembly robots attract passing-by robots into expanding the assembly via a simple implementation of signaling and alignment. Our approach is minimalistic, requiring only communication between attached, immediate neighbors. It is motion-agnostic and requires no pose localization, enabling asynchronous and order-independent assembly. We prove the algorithm's correctness and demonstrate its effectiveness in forming a 107-robot assembly. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_17768 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Huddle: Parallel Shape Assembly using Decentralized, Minimalistic Robots Chin, Khai Yi Meng, Tingwei Chen, Zhe Bassett, Daniel Ivanov, Yuri Robotics We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly, which are global properties. The in-assembly robots attract passing-by robots into expanding the assembly via a simple implementation of signaling and alignment. Our approach is minimalistic, requiring only communication between attached, immediate neighbors. It is motion-agnostic and requires no pose localization, enabling asynchronous and order-independent assembly. We prove the algorithm's correctness and demonstrate its effectiveness in forming a 107-robot assembly. |
| title | Huddle: Parallel Shape Assembly using Decentralized, Minimalistic Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.17768 |