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    # Self-Replicating Hierarchical Modular Robotic Swarms
    
    
    Code for the paper: ["Self-Replicating Hierarchical Modular Robotic Swarms"](https://www.nature.com/articles/s44172-022-00034-3).
    
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    ## Interactive Web Demos
    
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    - [Robot Self-Replication](https://amiraa.pages.cba.mit.edu/self-replicating-hierarchical-modular-robotic-swarms/recursive_swarm/demos/indexRecursion.html)
    - [Discrete Robotic Parametric Design Tool](https://amiraa.pages.cba.mit.edu/self-replicating-hierarchical-modular-robotic-swarms/recursive_swarm/demos/indexIK_parts.html)
    
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    - [Serial Vs Hierarchical Construction](https://amiraa.pages.cba.mit.edu/self-replicating-hierarchical-robotic-swarms/recursive_swarm/demos/indexHierarchyExplanation.html)
    - [Build Sequence Visualization](https://amiraa.pages.cba.mit.edu/self-replicating-hierarchical-robotic-swarms/recursive_swarm/demos/indexBuitSequence_old.html)
    - [Small Path Planning Demo (2 levels)](https://amiraa.pages.cba.mit.edu/self-replicating-hierarchical-robotic-swarms/recursive_swarm/demos/indexCone.html)
    - [Large Path Planning (3 levels)](https://amiraa.pages.cba.mit.edu/self-replicating-hierarchical-robotic-swarms/recursive_swarm/demos/indexCone4.html)
    
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    ## Copyright
    
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    (c) Massachusetts Institute of Technology 2022. All rights reserved.
    
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    ## Citation
    
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    Amira Abdel-Rahman, Christopher Cameron, Benjamin Jenett, Miana Smith and Neil Gershenfeld. Self-Replicating Hierarchical Modular Robotic Swarms. Nature Communications Engineering. Under review.
    
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    ```
    @article{,
      title={Self-Replicating Hierarchical Robotic Swarms},
      author={Abdel-Rahman, Amira and Cameron, Christopher and Jenett, Benjamin and Smith, Miana and Gershenfeld, Neil},
      journal={Communications Engineering},
      volume={},
      number={},
      pages={},
      year={2022},
      publisher={Nature Publishing Group}
    }
    ```
    
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    ### Related Work
    
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    Code was also used for the swarm simulations in: 
    
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    Benjamin Jenett, Amira Abdel-Rahman, K. Cheung, and Neil Gershenfeld. Material-robot system For assembly of discrete cellular structures. In Robotics and Automation Letters (RA-L). IEEE, 2019. [Link.](http://cba.mit.edu/docs/papers/19.07.materialrobot.pdf)
    
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    <!-- ```
    @article{jenett2019material,
      title={Material--robot system for assembly of discrete cellular structures},
      author={Jenett, Benjamin and Abdel-Rahman, Amira and Cheung, Kenneth and Gershenfeld, Neil},
      journal={IEEE Robotics and Automation Letters},
      volume={4},
      number={4},
      pages={4019--4026},
      year={2019},
      publisher={IEEE}
    }
    ``` -->
    
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    ---