Engineering Self-Organizing Systems: Investigating Top-Down Synthesis of Resilient Collectives Using an Experimental 1000 Robot Platform
Abstract
Our long term agenda involves several threads, including both bottom-up investigations of fundamental behaviors, as well as top-down synthesis of complex behaviors. The darpa seedling period covered by this report is short, therefore we have no yet produced publications and final results. Our current progress so far includes: 1. Study of Primitive Collective Behaviors: Gradients and Dispersion Currently completed 80% of progress on experimental study of scalability and robustness for both primitives; key conceptual discovery is error ÒcascadingÓ and current focus is on methods to stop cascades. 2. Study of Top-down Synthesis of Collective Behaviors Presented a first demonstration of top-down synthesis with Ò?Ó shape formation at Darpa Wait What event; still several algorithmic challenges currently working on. 3. Future Hardware Systems Demonstrated single robot prototype; future work on this area will continue in RubsensteinÕs group at Northwestern.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Oct 06, 2018
- Source ID
- W911NF1510078
Entities
People
- Radhika Nagpal
Organizations
- Army Contracting Command
- Harvard Medical School
- Office of the Secretary of Defense