We present a decentralized, behavior-based approach to assembling and maintaining robot formations. Our approach dynamically grows formations from single robots into line segments and ultimately larger and more complex formations. Formation growth occurs by negotiation when robots are in close proximity. The approach has been validated using simulation as well as experiments with physical robot...

This paper treats the problem of the merging of formations, where the underlying model of a formation is graphical. We first analyze the rigidity and persistence of metaformations, which are formations obtained by connecting several rigid or persistent formations. Persistence is a generalization to directed graphs of the undirected notion of rigidity. In the context of moving autonomous agent f...

The individual feathers in the skin of a developing chicken embryo are arranged in a precise array within a series of so-called 'tracts'. The images above show nascent feather buds in the legs of embryos at 8–9 days of incubation. Buds are added sequentially across the forming feather tract, as shown by the range of developmental stages in the image at top left. (In all three upper images, buds...

Introduction: Obesity worldwide is considered as the single largest cause of chronic illness. The children thepresent generation are only people throughout history who die because problems with overweight beforetheir parents. Obese prone to fatty liver disease. Fatty one disorders thatis associated lipid accumulation in hepatocytes. aim this study was estimate prevalence fattyliver and obese Il...

lithofacies identification can provide qualitative information about rocks. it can also explain rock textures which are importantcomponents for hydrocarbon reservoir description sarvak formation is an important reservoir which is being studied in the marun oilfield, in the dezful embayment (zagros basin). this study establishes quantitative relationships between digital well logs data androutin...

Multi-agent formations have been recently the subject of many studies. An important operational challenge, largely unaddressed in the literature, is to ensure that functionality of the formation is retained should agents be lost through misadventure, mission reassignment, and so on. In the context of sensor networks, it is also important to allow for the loss of multiple sensors as the low qual...

The present study was carried out to determine the possible origins of sediments entering Taleghan Dam in northern part of Iran, in order to avoid further sedimentation and helping in extension of the useful life of the proposed dam. This was performed by XRD analysis. To do so, first of all, sediment sampling points were positioned along the Taleghan River. The collected samples, after coding,...

Marine transgressions or microbial precipitation: What was the controlling factor of continental margin iron formation deposition? Introduction Iron formations, which can be found around the world today, have great importance as sources of iron and manganese ore, clues about the evolution of life on Earth, and even hints at possible life on Mars (Weber et al., 2006). Precambrian iron formations...