Contact-Driven Localization in a Freeform Robotic Self-Assembled Structure

• URL: http://arxiv.org/abs/2608.02895v1
• Date: Mon, 03 Aug 2026 21:23:35 GMT
• Title: Contact-Driven Localization in a Freeform Robotic Self-Assembled Structure
• Abstract summary: We propose a novel contact-driven localization method for modular robots.<n>We introduce a virtual-force framework in which robots iteratively refine their poses attracting toward dock-connected neighbors and repelling from non-connected ones.<n>The method requires no external infrastructure and relies only on minimal onboard sensing.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Accurate localization remains a key challenge in swarm robotics, particularly for self-reconfigurable systems that must identify relative positions to form diverse structures. Most existing approaches rely on external tracking infrastructure or high-cost sensors, which limit scalability and deployment in unstructured environments. In this paper, we propose a novel contact-driven localization method for modular robots that leverages only local communication through binary contact information (whether two robots are physically connected or not). To exploit these contact cues, we introduce a virtual-force framework in which robots iteratively refine their poses attracting toward dock-connected neighbors and repelling from non-connected ones. The method requires no external infrastructure and relies only on minimal onboard sensing. Simulations show effective localization during the assembly of towers and cantilevers, enabling accurate, scalable, free-form self-assembly.

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