Publications de Grégory Mermoud

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This dissertation describes a complete methodological framework for designing, modeling and optimizing a specific class of distributed systems whose dynamics result from the multiple, stochastic interactions of their constitutive components. These componen ...

We investigate and model the dynamics of two-dimensional stochastic self-assembly of intelligent micro-systems with minimal requirements in terms of sensing, actuation, and control. A microscopic agent-based model accounts for spatiality and serves as a ba ...

We present the M3 framework, a formal and generic computational framework for modeling and controlling distributed stochastic systems of purely reactive robots in an automated and real-time fashion. Based on the trajectories of the robots, the framework bu ...

A wealth of current research in microengineering aims at fabricating devices of increasing complexity, notably by (self-)assembling elementary components into heterogeneous functional systems. At the same time, a large body of robotic research called swarm ...

Model-based synthesis of distributed controllers for multi-robot systems is commonly approached in either a top-down or bottom-up fashion. In this paper, we investigate the experimental challenges of both approaches, with a special emphasis on resource-con ...

We propose two contrasting approaches to the scalable distributed control of a swarm of self-assembling miniaturized robots, specifically the formation of chains of a desired length: (1) a deterministic controller in which robots communicate with each othe ...

Fluid-mediated self-assembly is one of the most promising routes for assembling and packaging smart microsystems in a scalable and cost-efficient way. In this work the pairwise fluidic self-assembly of 100 μm-sized SU-8 cylinders is studied with respect to ...

In this paper, we present a quantitative, trajectory-based method for calibrating stochastic motion models of water-floating robots. Our calibration method is based on the Correlated Random Walk (CRW) model, and consists in minimizing the Kolmogorov-Smirno ...

We introduce a novel case study in which a group of miniaturized robots screen an environment for undesirable cells, and destroy them. Because miniaturized robots are usually endowed with reactive controllers and minimalist sensing and actuation capabiliti ...

In this contribution, we describe a novel approach to the problem of setting micrometric droplets in motion. First, this paper reviews the state-of-the-art methods to enable millimetric droplet motion, and investigates the scalability of the most promising ...

This paper presents drop-on-demand inkjet printing of SU-8 on functionalized surfaces for direct printing of computer controlled polymer patterns. The high viscosity of SU-8 required an in-depth investigation of the print parameters such as pulse amplitude ...

In this paper, we present the theoretical background, design, fabrication and characterization of a micromachined chamber assisting the fluidic self-assembly of micro-electro-mechanical systems in a bulk liquid. Exploiting bubble-induced acoustic microstre ...

Grégory Mermoud

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Design, Modeling and Optimization of Stochastic Reactive Distributed Robotic Systems

Towards Multi-Level Modeling of Self-Assembling Intelligent Micro-Systems

Real-Time Automated Modeling and Control of Self-Assembling Systems

Modeling Self-Assembly Across Scales: The Unifying Perspective of Smart Minimal Particles

Top-Down vs Bottom-Up Model-Based Methodologies for Distributed Control: A Comparative Experimental Study

Comparing and modeling distributed control strategies for miniature self-assembling robots

Fluid-mediated parallel self-assembly of polymeric micro-capsules for liquid encapsulation and release

A Trajectory-based Calibration Method for Stochastic Motion Models

Aggregation-mediated Collective Perception and Action in a Group of Miniature Robots

Towards Smart Substrates for Controlling Micrometric Droplet Motion

Drop-On-Demand Inkjet Printing of SU-8 Polymer

Acousto-fluidic system assisting in-liquid self-assembly of microcomponents