Abstract
This paper discusses dynamic self-assembly of an autonomous decentralized multi-robotic system induced from a balance between building and scrapping of a swarm formation. To this end, we particularly focus on not only the effect of Virtual Spring but also asymmetrical interaction between robots, the former of which is used as an aggregation control mechanism of the swarm, and the latter of which destruct the geometrical structure generated. Simulation results indicated that the swarm maintains a specific shape, i.e., disc-like shape, by causing both building and scrapping. And then, by modifying degrees of aggregation and destruction, the swarm showed successfully various behavior, i.e., random walk or convection-like movement.
