Navneet Bhalla

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Throughout nature, decentralized components emerge into complex forms. It is through their interaction that components, governed by simple rules, self-assemble to create specific entities. The programs constituting these entities are based on the rules present in a given system and are executed on the physically and chemically encoded information comprising(More)
Primarily top-down design methodologies have been used to create physical self-assembling systems. As the sophistication of these systems increases, it will be more challenging to deploy top-down design , due to self-assembly being an algorithmically NP-complete problem. Alternatively, we present a nature-inspired approach incorporating evolutionary(More)
From crystals to galaxies, self-assembly is evident throughout nature at all scales. Self-assembly in natural systems is primarily dictated by the morphology of the components within a system and the environmental conditions they are subjected to, as well as their component and environment physical and chemical properties. Several experiments are discussed(More)
Throughout nature, in both the inorganic and organic realms, complex entities emerge as a result of self-assembly from decentralised components governed by simple rules. Natural self-assembly is dictated by the morphology of the components and the environmental conditions they are subjected to, as well as the physical and chemical properties of their(More)
One of the practical challenges facing the creation of self-assembling systems is being able to exploit a limited set of fixed components and their bonding mechanisms. The method of staging divides the self-assembly process into time intervals, during which components can be added to, or removed from, an environment at each interval. Staging addresses the(More)
Current implementations of decentralized multi-robot construction systems are limited to construction of rudimentary structures such as walls and clusters, or rely on the use of blueprints for regulation. Building processes that make use of blueprints are unattractive in unknown environments as they can not compensate for heterogeneities, such as irregular(More)
Being able to engineer a set of components and their corresponding environmental conditions such that target entities emerge as the result of self-assembly remains an elusive goal. In particular, understanding how to exploit physical properties to create self-assembling systems in three dimensions (in terms of component movement) with symmetric and(More)
The inherent massive parallelism of self-assembly is one of its most appealing attributes for autonomous construction. One challenge in parallel self-assembly is to reduce the number of incompatible substructures that can occur in order to increase the yield in target structures. Early studies demonstrated how a simple approach to component design led(More)
A swarm intelligence system is a type of multiagent system with the following distinctive characteristics: (i) it is composed of a large number of agents, (ii) the agents that comprise the system are simple with respect to the complexity of the task the system is required to perform, (iii) its control relies on principles of decentralization and(More)