click on the links to download preprints...

all versions are pre-publication drafts with eventual publication citations as listed

the author gratefully acknowledges the support of DARPA, the NSF, the AFOSR, and the ONR; of course, that doesn't mean they endorse what is written. neither does the university of pennsylvania. in fact, i don't think anyone except me and a few coauthors endorse the opinions expressed in these works. and even then, it's not a slam-dunk.

 

SELF ASSEMBLY

  1. [2010] R. Ghrist, “Configuration spaces, braids, and robotics,” Lecture Note Series, Inst. Math. Sci., NUS, vol. 19, World Scientific, 263-304.
  2. [2007] R. Ghrist and V. Peterson, “The geometry and topology of reconfiguration,” Adv. Appl. Math., 38, 302–323.
  3. [2006] E. Klavins, R. Ghrist, and D. Lipsky, “The graph grammatical approach to self-organizing robotic systems,” IEEE Trans. Automatic Controls, 51(6), 949-962.
  4. [2004] A. Abrams and R. Ghrist, “State complexes for metamorphic robots,” Intl. J. Robotics Research, 23(7,8), 809-824.
  5. [2004] R. Ghrist, and D. Lipsky, “Grammatical self-assembly for planar tiles,'' in Proc. Intl. Conf. on MEMS, Nano, and Smart Systems.
  6. [2004] E. Klavins, R. Ghrist, and D. Lipsky, “Graph grammars for self-assembling robot systems,'' in Proc. Intl. Conf. on Robotics & Automation.
  7. [2002] R. Ghrist, “Shape complexes for metamorphic robots,'' in Algorithmic Foundations of Robotics V, J. Boissonnat et al. eds., STAR 7, Springer, 185-201.