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Francesco Mondada

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Publications associées (174)

Cy-mag3D: a simple and miniature climbing robot with advance mobility in ferromagnetic environment

Francesco Mondada, Hannes Bleuler, Frédéric Rochat, Patrick Schoeneich, Barthélémy Lüthi

Cy-mag3D is a miniature climbing robot with advanced mobility and magnetic adhesion. It is very compact: a cylindrical shape with 28 mm of diameter and 62 mm of width. Its design is very simple: two wheels, hence two degrees of freedom, and an advanced mag ...

World Scientific2010

Ubichip, Ubidule, and MarXbot: A Hardware Platform for the Simulation of Complex Systems

Francesco Mondada, Eduardo Sanchez, Andres Perez-Uribe, Yann Thoma, Andres Upegui, Philippe Rétornaz

This paper presents the final hardware platform developed in the Perplexus project. This platform is composed of a reconfigurable device called the ubichip, which is embedded on a pervasive platform called the ubidule, and can also be integrated on the mar ...

Springer2010

Planner9, a HTN planner distributed on groups of miniature mobile robots

Francesco Mondada, Stéphane Magnenat, Martin Voelkle

Autonomous mobile robots are promising tools for operations in environments that are difficult to access for humans. When these environments are dynamic and non-deterministic, like in collapsed buildings, the robots must coordinate their actions and the us ...

Springer2009

Noise and bias for free : PERPLEXUS as a material platform for embodied thought-experiments

Francesco Mondada, Eduardo Sanchez, Andres Perez-Uribe, Yann Thoma, Philippe Rétornaz

SSAISB: The Society for the Study of Artificial Intelligence and the Simulation of Behaviour2009

Design of Collision Avoidance System for a Chicken Robot Based on Fuzzy Relation Equations

Francesco Mondada, Alexey Gribovskiy

Design and study of mixed animal-robot societies are the fields of scientific exploration that can bring new opportunities for research into the group behavior of social animals. Our goal is to develop a Chicken Robot – an autonomous mobile robot, socially ...

IEEE Press2009

Teamwork in Self-Organized Robot Colonies

Francesco Mondada, Michael Bonani, Roderich Gross

Swarm robotics draws inspiration from decentralized self-organizing biological systems in general and from the collective behavior of social insects in particular. In social insect colonies, many tasks are performed by higher order group or team entities, ...

2009

Aseba Meets D-Bus: From the Depths of a Low-Level Event-

Francesco Mondada, Stéphane Magnenat

The robotics research community has clearly acknowledged the need of open and standard software stacks to promote reuse of code and developments. However, to date no particular project has prevailed. We suggest that one possible reason for this is that mos ...

2009

The Hand-bot, a Robot Design for Simultaneous Climbing and Manipulation

Francesco Mondada, Stéphane Magnenat, Michael Bonani, Philippe Rétornaz

We present a novel approach to mobile object manipulation for service in indoor environments. Current research in service robotics focus on single robots able to move, manipulate objects, and transport them to various locations. Our approach differs by tak ...

Springer-Verlag2009

TRIPILLAR: Miniature magnetic caterpillar climbing robot with plane transition ability

Francesco Mondada, Frédéric Rochat, Olivier Truong-Dat Nguyen, Patrick Schoeneich

In this paper, we describe a miniature climbing robot, 96 x 46 x 64 [mm3], able to climb ferromagnetic surfaces and to make inner plane to plane transition using only two degrees of freedom. Our robot, named TRIPILLAR, combines magnetic caterpillars and ma ...

World Scientific2009

Segregation in swarms of mobile robots based on the Brazil nut effect

Francesco Mondada, Stéphane Magnenat, Roderich Gross

We study a simple algorithm inspired by the Brazil nut effect for achieving segregation in a swarm of mobile robots. The algorithm lets each robot mimic a particle of a certain size and broadcast this information locally. The motion of each particle is con ...

IEEE Computer Society Press2009

Interactive Mobile Robotic Drinking Glasses

Francesco Mondada, Michele Leidi, François Rey

The central idea behind this attempt is to merge common objects and robotics to obtain a new type of interactive artefact, we call robjects. Robjects provide services to everyday life and can be controlled by the user in a very intuitive way. Robjects take ...

Springer2009

Swarm-bots to the Rescue

Francesco Mondada, Michael Bonani, Roderich Gross

We explore the problem of resource allocation in a system made up of autonomous agents that can either carry out tasks individually or, when necessary, cooperate by forming physical connections with each other. We consider a group transport scenario that i ...

Springer Verlag2009

The e-puck, a Robot Designed for Education in Engineering

Francesco Mondada, Jean-Christophe Zufferey, Alcherio Martinoli, Dario Floreano, Stéphane Magnenat, Michael Bonani, Xavier Raemy, Christopher Cianci, James Pugh, Adam Klaptocz

Mobile robots have the potential to become the ideal tool to teach a broad range of engineering disciplines. Indeed, mobile robots are getting increasingly complex and accessible. They embed elements from diverse ﬁelds such as mechanics, digital electronic ...

IPCB: Instituto Politécnico de Castelo Branco2009

Magnebike: A Magnetic Wheeled Robot with High Mobility for Inspecting Complex-Shaped Structures

Francesco Mondada, Roland Moser, Roland Siegwart, Gilles Caprari, Fabien Tâche

This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex-shaped structures. The locomotion concept is based on an ad ...

2009

Real-Time Audio-Visual Calls Detection System for a Chicken Robot

Francesco Mondada, Alexey Gribovskiy

Design, study, and control of mixed animals-robots societies is the field of scientific exploration that can bring new opportunities for study and control of groups of social animals. In the Chicken Robot project we develop a mobile robot, socially accepta ...

2009

Audio-visual detection of multiple chirping robots

Francesco Mondada, Alexey Gribovskiy

Design, study, and control of mixed animals-robots societies are the fields of scientific exploration that can bring new opportunities for study and control of groups of social insects and animals and, in particular, for improvement of welfare and breeding ...

IOS Press2008

Scripting the swarm: event-based control of microcontroller-based robots

Francesco Mondada, Stéphane Magnenat, Basilio Noris, Philippe Rétornaz

Swarm robotics in real world requires a large number of robots and thus enough room for experimentation. Therefore, to implement such experiments with limited budget, robots should be compact and low cost, which entails the use of microcontroller-based min ...

2008

Aseba-Challenge: An Open-Source Multiplayer Introduction to Mobile Robots Programming

Francesco Mondada, Stéphane Magnenat, Basilio Noris

We present in this paper a realistic looking robotic survival challenge simulation. Using a model of the e-puck, an open-source mobile robot designed for educational purposes, our simulation allows several players to program the behaviour of e-pucks compet ...

Springer2008

Division of Labour in Self-Organised Groups

Francesco Mondada, Michael Bonani, Roderich Gross

In social insect colonies, many tasks are performed by higher-order entities, such as groups and teams whose task solving capacities transcend those of the individual participants. In this paper, we investigate the emergence of such higher-order entities u ...

Springer Verlag2008

What do people expect from robots?

Francesco Mondada, Roland Siegwart

IEEE Press2008

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