Papers › Parallel Self-assembly for Modular USVs with Diverse Docking Mechanism Layouts
Parallel Self-assembly for Modular USVs with Diverse Docking Mechanism Layouts
Lianxin Zhang, Yang Jiao, Yihan Huang, Ziyou Wang, Huihuan Qian
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs. However, assembling multiple heterogeneous robots with diverse DMLs is still a research gap. This paper addresses this problem by introducing CuBoat, an omnidirectional unmanned surface vehicle (USV). CuBoat can be equipped with or without docking systems on its four sides to emulate heterogeneous robots. We implement a multi-robot system based on multiple CuBoats. To enhance maneuverability, a linear active disturbance rejection control (LADRC) scheme is proposed. Additionally, we present a generalized parallel self-assembly planning algorithm for efficient assembly among CuBoats with different DMLs. Validation is conducted through simulation within 2 scenarios across 4 distinct maps, demonstrating the performance of the self-assembly planning algorithm. Moreover, trajectory tracking tests confirm the effectiveness of the LADRC controller. Self-assembly experiments on 5 maps with different target structures affirm the algorithm's feasibility and generality. This study advances robotic self-assembly, enabling multi-robot systems to collaboratively tackle complex tasks beyond the capabilities of individual robots.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections