An Approach to Self-Assembling Swarm Robots Using Multitree Genetic Programming

Figure 2

Examples of the generated patterns of an oscillator. (A) Simple rotation: the full speed to clockwise at 𝑡[0,50] and to anticlockwise at 𝑡[50,100]; (B) repeating the motion of a module in a sine wave; (C) a module repeating some work.