Fundamental Paper on Formation Control For CS 7631: Multi Robot Systems Diogenes Molina
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Fundamental Paper on Formation ControlFor CS 7631: Multi Robot Systems
Diogenes MolinaSchool of Interactive ComputingGeorgia Tech
March 15, 2012
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Radhika, Nagpal, “Programmable Self-Assembly Using Biologically-Inspired Multiagent Control,” in Proceedings of the 1st International Joint Conference on Autonomous Agents and Multiagent Systems, pp. 418-425, New York, 2002.
The Paper
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Problem statement and motivation Brief overview of previous work Insights from developmental biology Proposed multiagent control methodology for
programmable self-assembly◦ Origami-inspired operations for global shape specification◦ Cell biology-inspired primitives◦ From global shapes to local primitives
Simulation results Paper critique Questions
Outline
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How to design/program self-assembling complex structures from locally interacting homogeneous agents?
Problem statement and motivation (1)
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Emerging technologies make approaches of this type attractive
But. mapping global objectives to decentralized local rules is hard
Limited agent resources Reliability
Problem statement and motivation (2)
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Hierarchical and centralized approaches dominate
Can be unreliable and not fault-tolerant Expensive and complex agents can be costly Approaches based on cellular automata and
artificial life are difficult to generalize There is no framework for generating local rules
automatically Learning and evolutionary approaches
Brief overview of previous work
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Biological systems are a clear proof that this can be done effectively!
The inner workings of these systems can provide inspiration
Morphogenesis and developmental biology as a source of mechanisms and general principles
Implement some of these mechanisms as a programming language
Epithelial cell behavior
Insights from developmental biology
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Sheet and Agent Model
Multiagent methodology for programmable self-assembly
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OSL: origami-inspired language for global shape specification
Multiagent programmable self-assembly (1)
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Biologically-inspired local primitives Gradients Neighborhood query Polarity inversion Cell-to-cell contact Flexible folding
Multiagent programmable self-assembly (2)
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Axiom implementation via local primitives
Multiagent programmable self-assembly (3)
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From OSL to agent program
Multiagent programmable self-assembly (4)
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Simulation results
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Many shapes cannot be constructed using the axioms
The initialization of the sheet is providing a certain amount of “global” information
The simulation environment seems too artificial Not clear about how the folding process is
executed Some global synchronization must be occurring,
but not discussed The symmetry of the sheet might not be satisfied
in some cases, but could have a huge impact
Criticism
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A. Huzita’s Axioms
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B. Epithelial cells reference
http://www.bio.davidson.edu/people/kabernd/BerndCV/Lab/EpithelialInfoWeb/index.html
http://en.wikipedia.org/wiki/Epithelium