翻訳待ち：Contact-Driven Localization in a Freeform Robotic Self-Assembled Structure

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--> [Submitted on 3 Aug 2026] Title:Contact-Driven Localization in a Freeform Robotic Self-Assembled Structure View a PDF of the paper titled Contact-Driven Localization in a Freeform Robotic Self-Assembled Structure, by Mohammadali Rashidioun and 2 other authors View PDF HTML (experimental) Abstract:Accurate localization remains a key challenge in swarm robotics, particularly for self-reconfigurable systems that must identify relative positions to form diverse structures. Most existing approaches rely on external tracking infrastructure or high-cost sensors, which limit scalability and deployment in unstructured environments. In this paper, we propose a novel contact-driven localization method for modular robots that leverages only local communication through binary contact information (whether two robots are physically connected or not). To exploit these contact cues, we introduce a virtual-force framework in which robots iteratively refine their poses attracting toward dock-connected neighbors and repelling from non-connected ones. The method requires no external infrastructure and relies only on minimal onboard sensing. Simulations show effective localization during the assembly of towers and cantilevers, enabling accurate, scalable, free-form self-assembly. Comments: 8 Pages Subjects: Robotics (cs.RO) Cite as: arXiv:2608.02895 [cs.RO] (or arXiv:2608.02895v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.02895 arXiv-issued DOI via DataCite (pending registration) Submission history From: Petras Swissler [view email] [v1] Mon, 3 Aug 2026 21:23:35 UTC (2,954 KB) Full-text links: Access Paper: View a PDF of the paper titled Contact-Driven Localization in a Freeform Robotic Self-Assembled Structure, by Mohammadali Rashidioun and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)