Deadlock resolution in self-assembly of modular structure systems

In self-assembly of modular structure systems, decentralized planning of module movements has deadlock problems since it uses only local information. Mechanisms of deadlock occurrence are considered, and it is pointed out that simple rules of module movements based on local information sometimes set the module not to move entirely or to repeat same movements infinitely. To solve deadlock problems, the method, which is to control randomness of module movements, is proposed. Through computer simulations using the proposed method, deadlock resolution is clearly demonstrated, and considerable reduction of assembly time is also shown.