hsprcode / self-assembling-structures-using-multi-robot-system

Developed and simulated a randomly scattered collective of robots with sensors to self-assemble into any given connected shape, using gradient information derived from the desired shape.

Self-assembling-structures-using-Multi-Robot-System

Gradient information

Gradient information derived from the desired shape (img4.png, can be changed to any connected shape), using the code in pixe2.m.

Robot Environment and Simulation

Mobile robotics simulation toolbox in MATLAB is used to create a simulation environment, to define individual robot equations and parameters, to enable the robots with lidar like sensing capabilities. Simulations of the robots moving in a 2D environment to assemble into a structure are performed. Toolbox can be downloaded from: https://github.com/mathworks-robotics/mobile-robotics-simulation-toolbox

The code fin3.m use the gradient information and the toolbox to create the robots and simulate them. The final simulation can be seen in the file final-simulation.gif