Shape Formation by Self-Disassembly in Programmable Matter Systems

Programmable matter systems are composed of small, intelligent modules able to form a vari-ety of macroscale objects with specific material properties in response to external commands or stimuli. While many programmable matter systems have been proposed in fiction, (Barbapapa, Changelings from Star Trek, the Terminator, and Transformers), and academia, a lack of suitable hardware and accompanying algorithms prevents their full realization. With this thesis research, we aim to create a system of miniature modules that can form arbitrary structures on demand. We develop autonomous 12mm cubic modules capable of bonding to, and communicating with, four of their immediate neighbors. These modules are among the smallest autonomous mod-ular robots capable of sensing, communication, computation, and actuation. The modules employ unique electropermanent magnet connectors. The four connectors in each module enable the mod-ules to communicate and share power with their nearest neighbors. These solid-state connectors are strong enough for a single inter-module connection to support the weight of 80 other mod-ules. The connectors only consume power when switching on or off; they have no static power consumption