Fall in! Sorting a Group of Robots with a Continuous Controller

@article{Litus2010FallIS,
  title={Fall in! Sorting a Group of Robots with a Continuous Controller},
  author={Yaroslav Litus and Richard T. Vaughan},
  journal={2010 Canadian Conference on Computer and Robot Vision},
  year={2010},
  pages={269-276}
}
This paper describes the first robotic system that solves a combinatorial computational problem by means of its own continuous dynamics. The goal of the system is to rearrange a set of robots on a line in a certain predefined order, thereby sorting them. Conventional pairwise between-robot rank comparisons suggested by traditional discrete state sorting algorithms are avoided by coupling robots in a Brockett double bracket flow system. A conventional multi-robot simulation with non-holonomic… CONTINUE READING