Deadlock Resolution inSelf-Assembly ofModular Structure Systems

In self-assembly ofmodularstructure systems, decentralized planning ofmodulemovements hasdeadlock problems sinceitusesonlylocalinformation. Mechanisms ofdeadlock occurrence areconsidered, anditispointed outthatsimple rules of modulemovements basedonlocal information sometimes setthe modulenottomoveentirely ortorepeat samemovements infinitely. To solvedeadlock problems, themethod, whichistocontrol randomness ofmodulemovements, isproposed. Throughcomputer simulations using theproposed method, deadlock resolution isclearly demonstrated, andconsiderable reduction ofassembly timeisalso shown.