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Chapter 2 SWARMORPH : Morphogenesis with Self-Assembling Robots

We detail progress towards giving robots the capacity to assemble into appropriate morphologies and to operate as a single entity when physically connected to one another. Our work is conducted on the Swarm-bot robotic platform. We develop low-level control logic to allow inter-robot connections to be formed at particular angles. We develop higher-level control logic to dictate the sequence of these connections so as to form desired morphologies. The high-level logic also allows the robots to make appropriate collective responses to different tasks. We test our morphology generation framework with a series of real-world experiments conducted on up to nine robots. We also do some experiments in a physics-based simulation environment to verify scalability.