================================================================================ Fault Tolerant Morphogenesis in Self-reconfigurable Modular Robotic Systems Lachlan James Murray Accompanying Material September 2013 ================================================================================ 5.1 mDCA anomaly detection anomaly_detection.mp4 A group of robots performing energy foraging. The mDCA output from one of the robots is overlayed. The colours indicate true negatives (yellow), false negatives (cyan), true positives (green) and false positives (red) -------------------------------------------------------------------------------- 5.2 Long-term Survival long_term_survival.mp4 Part of one of the long-term survival runs. Demonstrating wandering, obstacle avoidance, recharging at power sockets and energy sharing -------------------------------------------------------------------------------- 6.1 Self-repair during assembly (Stage) stage_self-repair_1.mp4 A demonstration of self-repair occurring during the assembly process -------------------------------------------------------------------------------- 6.2 Self-repair following assembly (Stage) stage_self-repair_2.mp4 A demonstration of self-repair occurring after assembly has completed -------------------------------------------------------------------------------- 6.3 Self-repair following assembly (Robot3D) robot3d_self-repair.mp4 A demonstration of self-repair occurring after assembly has completed -------------------------------------------------------------------------------- 6.4 Repair scenario A (Symbricator) symbricator_repair_A.mp4 Robots performing repair scenario A -------------------------------------------------------------------------------- 6.5 Repair scenario B (Symbricator) symbricator_repair_B.avi Robots performing repair scenario B, with tracking information overlayed -------------------------------------------------------------------------------- 6.6 Repair scenario C (Symbricator) symbricator_repair_C.avi Robots performing repair scenario C, with tracking information overlayed -------------------------------------------------------------------------------- 6.7 Repair scenario D (Symbricator) symbricator_repair_D.mp4 Robots robots performing repair scenario D -------------------------------------------------------------------------------- 7.1 Stationary alignment stationary_alignment.mp4 A comparison between the two approaches to stationary alignment -------------------------------------------------------------------------------- 7.2 Collective locomotion collective_motion.mp4 A demonstration of collective locomotion with various different structures -------------------------------------------------------------------------------- 7.3 Five module self-assembly five_module_assembly.mp4 A group of five modules performing self-assembly -------------------------------------------------------------------------------- 7.4 Environment driven self-reconfiguration reconfiguration.mp4 A demonstration of environment-driven self-reconfiguration. An LED ring is used to trigger the switch between assembling and disassembling --------------------------------------------------------------------------------