Faculty Publications and Other Works -- EECS

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Artificial morphogenesis uses processes inspired by embryology to control massive swarms of robots to assemble complex physical structures. First, we use an example morphogenetic program to illustrate a prototype implementation of morphgen, a morphogenetic programming language. The syntax and semantics are described informally as illustrated by the example program, which is included in its entirety in an appendix. Another appendix includes a complete formal grammar for the current version of the language. Next, we describe the results of a series of experiments with the program, which simulates a continuous swarm of microscopic agents creating paths from an origin to a destination while avoiding obstacles. We present the effects of various parameters and of alternative ways of accomplishing particular purposes.

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