Publications by Bahar Haghighat

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The newly emerged and quickly growing science of nanotechnology has been recognized as one of ``the twenty-first century's great leaps forward in scientific knowledge''. Self-assembly provides a powerful enabling technique for nanotechnology by providing a ...

Stochastic self-assembly provides promising means for building micro-/nano-structures with a variety of properties and functionalities. Numerous studies have been conducted on the control and modeling of the process in engineered self-assembling systems co ...

Self-assembling robotic systems form a subclass of distributed robotic systems that undertake the fundamental task of structure formation. These systems build desired target structures by putting their constituting robotic modules together in a distributed ...

Social insects successfully create bridges, rafts, nests and other structures out of their own bodies and do so with no centralized control system, simply by following local rules. For example, while traversing rough terrain, army ants (genus Eciton) build ...

Programmable stochastic self-assembly of modular robots provides promising means to formation of structures at different scales. One way to address the design of dedicated control rulesets for self-assembling robotic modules is to leverage formalisms based ...

Programmable self-assembly of modular robots offers promising means for structure formation at different scales. Rule-based approaches have been previously employed for distributed control of stochastic self-assembly processes. The assembly rate in the pro ...

Fluid-mediated programmable stochastic self-assembly offers promising means to formation of target structures capable of a variety of functionalities. While miniaturized building blocks allow for finer resolutions in such structures, as well as access to u ...

Several self-assembly systems have been developed in recent years, where depending on the capabilities of the building blocks and the controlability of the environment, the assembly process is guided typically through either a fully centralized or a fully ...

In this paper, we consider a system consisting of multiple floating robotic modules performing self-assembly. Faithfully modeling such a system and its inter-module interactions typically involves capturing the hydrodynamic forces acting on the modules usi ...

Bahar Haghighat

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Design, Modeling, and Control Methods for Fluid-Mediated Programmable Self-Assembly of Resource-Constrained Robotic Modules

Fluid-Mediated Stochastic Self-Assembly at Centimetric and Sub-Millimetric Scales: Design, Modeling, and Control

Lightweight physics-based models for the control of fluid-mediated self-assembly of robotic modules

Eciton robotica: Design and Algorithms for an Adaptive Self-Assembling Soft Robot Collective

Automatic synthesis of rulesets for programmable stochastic self-assembly of rotationally symmetric robotic modules

A Rule Synthesis Algorithm for Programmable Stochastic Self-Assembly of Robotic Modules

Lily: A Miniature Floating Robotic Platform for Programmable Stochastic Self-Assembly

Characterization and Validation of a Novel Robotic System for Fluid-Mediated Programmable Stochastic Self-Assembly

Design and Calibration of a Lightweight Physics-Based Model for Fluid-Mediated Self-Assembly of Robotic Modules

Synthesizing Rulesets for Programmable Robotic Self-Assembly: A Case Study using Floating Miniaturized Robots

Probabilistic Modeling of Programmable Stochastic Self-Assembly of Robotic Modules