Abstract
We observe an experiment for self-repair in robots that can fabricate their own parts. A challenge emerges when imperfections or degradations in the robot impact its ability to fabricate ideal components to guarantee self-repair. In the proposed experiment, we start with a defective or degraded component. We do not fabricate an ideal part initially, but only after a sequence of increasing-in-quality parts. We construct and validate two mathematical models to describe the experiment and match the observations. We observe convergence to the ideal part in all experiments and models, thus restoring the capability for self-repair to the robot.
| Original language | English (US) |
|---|---|
| Title of host publication | 2022 American Control Conference, ACC 2022 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 3702-3709 |
| Number of pages | 8 |
| ISBN (Electronic) | 9781665451963 |
| DOIs | |
| State | Published - 2022 |
| Event | 2022 American Control Conference, ACC 2022 - Atlanta, United States Duration: Jun 8 2022 → Jun 10 2022 |
Publication series
| Name | Proceedings of the American Control Conference |
|---|---|
| Volume | 2022-June |
| ISSN (Print) | 0743-1619 |
Conference
| Conference | 2022 American Control Conference, ACC 2022 |
|---|---|
| Country/Territory | United States |
| City | Atlanta |
| Period | 06/8/22 → 06/10/22 |
Bibliographical note
Publisher Copyright:© 2022 American Automatic Control Council.
ASJC Scopus subject areas
- Electrical and Electronic Engineering