In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each other. We discuss the challenges involved in controlling a swarm-bot and address the problem of synthesizing controllers for the swarm-bot using artificial evolution.

In this paper we introduce a new robotic system, called swarm-bot. The system consists of a swarm of mobile robots with the ability to connect to/disconnect from each other to self-assemble into di#erent kinds of structures. First, we describe our vision and the goals of the project. Then we present preliminary results on the formation of patterns obtained from a grid-world simulation of the system. Keywords--- swarm intelligence, ant algorithms, selfassembling, mobile robot, pattern formation I.

We study groups of autonomous robots engaged in a foraging task as typically found in some ant colonies. The task is to find a prey object and a nest object, establish a path between the two, and transport the prey to the nest. Once a path is established, robots are recruited to the prey, self-assemble into a pulling structure and collectively transport the prey---which is too heavy for a single robot to move it--- along the path to the nest. We follow a swarm-intelligence based control approach.

Prey retrieval, also known as foraging, is a widely used test application in collective robotics. The task consists in searching for objects spread in the environment and in bringing them to a specific place called nest. Scientific issues usually concern efficient exploration, mapping, communication among agents, task coordination and allocation, and conflict resolution. In particular, interferences among robots reduce the efficiency of the group in performing the task. Several works in the literature investigate how the control system of each robot or some form of middle/long range communication can reduce the interferences. In this work, we show that a simple adaptation mechanism, inspired by ants' behaviour and based only on information locally available to each robot, is effective in increasing the group efficiency. The same adaptation mechanism is also responsible for self-organised task allocation in the group.

Abstract. A swarm-bot is a robotic entity built of several autonomous mobile robots (called s-bots) physically connected together. This form of collective robotics exploits robot interactions both at the behavioral and physical levels. The goal of this paper is to analyze the physical performance of a swarm-bot as function of its size (number n of s-bots composing it). We present three tasks and the corresponding swarm-bot performances. In all three tasks we show superlinear performances in a range of n where the physical forces applied in the structure fit to the robot design. This superlinear performance range helps in understanding which swarm-bot size is optimal for a given task and gives interesting hints for the design of new application-oriented swarm-bots. 1

In this paper, we study aggregation in a swarm of simple robots, called s-bots, having the capability to self-organize and selfassemble to form a robotic system, called a swarm-bot. The aggregation process, observed in many biological systems, is of fundamental importance since it is the prerequisite for other forms of cooperation that involve self-organization and self-assembling. We consider the problem of defining the control system for the swarm-bot using artificial evolution.

We describe a new multi-robot system, named SWARM-BOTS, that exploits physical inter-connections to solve tasks that are impossible for a single robot.

Distributed coordination of groups of individuals accomplishing a common task without leaders, with little communication, and on the basis of selforganising principles, is an important research issue within the study of collective behaviour of animals, humans and robots. The paper shows how distributed coordination allows a group of evolved physicallylinked simulated robots (inspired by a robot under construction) to display a variety of highly coordinated basic behaviours such as collective motion, collective obstacle avoidance, and collective light approaching, and to integrate them in a coherent fashion. In this way the group is capable of searching and approaching a light target in an environment scattered with obstacles, furrows, and holes, where robots acting individually fail. The paper shows how the emerged coordination of the group relies upon robust self-organising principles (e.g. positive feedback) based on a special sensor that allows the single robots to perceive the “average ” group’s motion direction. The paper also presents a robust solution to a difficult coordination problem, that might also be encountered by some organisms, caused by the fact that the robots have to be capable of moving in any direction while being physically connected. Finally, the paper shows how the evolved distributed coordination mechanisms scale very well with respect to the number of robots, the way in which robots are assembled, the structure of the environment, and several other aspects. 1.

In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the design of 21 such systems, exhibiting components ranging from passive mechanical parts to mobile robots. We present a taxonomy of the systems and discuss design principles and functions. Finally, we summarize the main achievements and indicate potential directions for future research.

Abstract — This paper presents a new robotic concept, called SWARM-BOT, based on a swarm of autonomous mobile robots with self-assembling capabilities. SWARM-BOT takes advantage from collective and distributed approaches to ensure robustness to failures and to hard environment conditions in tasks such as navigation, search and transportation in rough terrain. One SWARM-BOT is composed of a number of simpler robots, called s-bots, physically interconnected. The SWARM-BOT is provided with selfassembling and self-reconfiguring capabilities whereby s-bots can connect and disconnect forming large flexible structures. This paper introduces the SWARM-BOT concept and describes its implementation from a mechatronic perspective. I.