An Approach to Swarm Modular Systems with Robustness to Dynamic Situation Changes

Self-assembly is an important factor for swarms to provide robustness to the system. For swarm robot systems, robots have been considered to realize self-assembly like ants and to adapt to their environment. These robots, however, have been modeled based on living organisms, and there are few studies that have further developed self-assembly in artificial swarm robot systems. This paper proposes a connected swarm system for artificial self-assembly. Firstly, we develop the system in which the robot can switch its driving mode from active to passive, and vice versa.