Navneet Bhalla

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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)
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)
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)
One of the practical challenges facing the creation of selfassembling systems is being able to exploit a limited set of fixed components and their bonding mechanisms. Staging addresses this challenge by dividing the self-assembly process into time intervals, and encodes the construction of a target structure in the staging algorithm itself and not(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)
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)
Self-assembly is an emergent property of decentralized systems, which is seen throughout nature. Understanding and applying this emergent property continues to be an important subject in the natural sciences, as well as engineering and computer science. However, only the specific principles and mechanisms of self-assembly are considered within the scope of(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)
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)