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# Self-Replicating Hierarchical Modular Robotic Swarms
Code for the paper: ["Self-Replicating Hierarchical Modular Robotic Swarms"](https://www.nature.com/articles/s44172-022-00034-3).
- [Robot Self-Replication](https://amiraa.pages.cba.mit.edu/self-replicating-hierarchical-modular-robotic-swarms/recursive_swarm/demos/indexRecursion.html)
- [Discrete Robotic Parametric Design Tool](https://amiraa.pages.cba.mit.edu/self-replicating-hierarchical-modular-robotic-swarms/recursive_swarm/demos/indexIK_parts.html)
- [Serial Vs Hierarchical Construction](https://amiraa.pages.cba.mit.edu/self-replicating-hierarchical-robotic-swarms/recursive_swarm/demos/indexHierarchyExplanation.html)
- [Build Sequence Visualization](https://amiraa.pages.cba.mit.edu/self-replicating-hierarchical-robotic-swarms/recursive_swarm/demos/indexBuitSequence_old.html)
- [Small Path Planning Demo (2 levels)](https://amiraa.pages.cba.mit.edu/self-replicating-hierarchical-robotic-swarms/recursive_swarm/demos/indexCone.html)
- [Large Path Planning (3 levels)](https://amiraa.pages.cba.mit.edu/self-replicating-hierarchical-robotic-swarms/recursive_swarm/demos/indexCone4.html)
(c) Massachusetts Institute of Technology 2022. All rights reserved.
Amira Abdel-Rahman, Christopher Cameron, Benjamin Jenett, Miana Smith and Neil Gershenfeld. Self-Replicating Hierarchical Modular Robotic Swarms. Nature Communications Engineering. Under review.
```
@article{,
title={Self-Replicating Hierarchical Robotic Swarms},
author={Abdel-Rahman, Amira and Cameron, Christopher and Jenett, Benjamin and Smith, Miana and Gershenfeld, Neil},
journal={Communications Engineering},
volume={},
number={},
pages={},
year={2022},
publisher={Nature Publishing Group}
}
```
Benjamin Jenett, Amira Abdel-Rahman, K. Cheung, and Neil Gershenfeld. Material-robot system For assembly of discrete cellular structures. In Robotics and Automation Letters (RA-L). IEEE, 2019. [Link.](http://cba.mit.edu/docs/papers/19.07.materialrobot.pdf)
<!-- ```
@article{jenett2019material,
title={Material--robot system for assembly of discrete cellular structures},
author={Jenett, Benjamin and Abdel-Rahman, Amira and Cheung, Kenneth and Gershenfeld, Neil},
journal={IEEE Robotics and Automation Letters},
volume={4},
number={4},
pages={4019--4026},
year={2019},
publisher={IEEE}
}
``` -->