Emergent Morphogenesis for Robot Swarms in 3D Space

We consider the problem of robot swarm emergent morphogenesis in 3D space. In this paper, robots are confined in a columnar boundary with tunable radial steepness. They align themselves according to self-organization rule, which lead to repulsion, collective and velocity alignment. They can interact with neighborhoods via 3D interaction law. We find that if we control the steepness and alignment power factor, we can create multiform morphogenesis. It is not a top-down scheme, but a purely self-organization behavior. In the proposed system, after tried to compare and analyze different settings for our model, we can get a stable multiform morphogenesis without collision.