Self-organizing formation algorithm for active elements

Kenichi Fujibayashi, Satoshi Murata, Ken Sugawara, Masayuki Yamamura

Research output: Contribution to journalConference articlepeer-review

41 Citations (Scopus)


In this paper, we propose a novel method of self-organizing formation. It is assumed that elements are not connected to each other, and they can move in continuous space. The objective is to arrange elements in certain spatial pattern like a crystal, and to make the outline of the group in desired shape. For this purpose, we proposed a method by using virtual springs among the elements. In this algorithm, an element generates virtual springs between neighbor element based on information how many other elements exist in neighborhood with a certain radius. Although the elements interact locally only by virtual springs, and they don't have global information at all, they form a shape much larger than the sensory radius. By simulation study, we confirmed convergence to a target shape from a random state in very high probability. This kind of algorithm gives a new principle of self-organizing formation, and its simplicity will be useful for design of self-assembling nano machines in future.

Original languageEnglish
Pages (from-to)416-421
Number of pages6
JournalProceedings of the IEEE Symposium on Reliable Distributed Systems
Publication statusPublished - 2002
EventThe 21st IEEE Symposium on Reliable Distributed Systems (SRDS-2002) - Suita, Japan
Duration: 2002 Oct 132002 Oct 16


Dive into the research topics of 'Self-organizing formation algorithm for active elements'. Together they form a unique fingerprint.

Cite this