Publication

Roombots-Towards Decentralized Reconfiguration with Self-Reconfiguring Modular Robotic Metamodules

Publications associées (31)

Roombots: A Hardware Perspective on 3D Self-Reconfiguration and Locomotion with a Homogeneous Modular Robot

Auke Ijspeert, Rico Möckel, Alexander Spröwitz, Stéphane Bonardi, Massimo Vespignani

In this work we provide hands-on experience on designing and testing a self-reconfiguring modular robotic system, Roombots (RB), to be used among others for adaptive furniture. In the long term, we envision that RB can be used to create sets of furniture, ...

Elsevier2014

Human-Robot Interaction: Tackling the AI Challenges

Séverin Lemaignan

Human-Robot interaction is an area full of challenges for artificial intelligence: dynamic, partially unknown environments that are not originally designed for autonomous machines; a large variety of situations and objects to deal with, with possibly compl ...

2014

A Plume Tracking Algorithm Based on Crosswind Formations

Alcherio Martinoli, Thomas Lochmatter, Inaki Navarro Oiza

We introduce a plume tracking algorithm based on robot formations. The algorithm is inherently designed for multi-robot systems, and requires at least two robots to collaborate. The robots try to keep themselves centered around the plume while moving upwin ...

Springer-Verlag Berlin2013

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

Alcherio Martinoli, Grégory Mermoud, Utkarsh Upadhyay, Massimo Mastrangeli

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 ...

Ieee2012

An Active Connection Mechanism for Soft Modular Robots

Dario Floreano, Michael Dommer, Jürg Markus Germann, Ramon Pericet Camara

To date, most modular robotic systems lack flexibility when increasing the number of modules due to their hard building blocks and rigid connection mechanisms. In order to improve adaptation to environmental changes, softness on the module level might be b ...

2012

Design, Modeling and Optimization of Stochastic Reactive Distributed Robotic Systems

Grégory Mermoud

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 ...

EPFL2012

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

Alcherio Martinoli, Grégory Mermoud, Massimo Mastrangeli

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 ...

2011

Roombots: Design and Implementation of a Modular Robot for Reconfiguration and Locomotion

Alexander Spröwitz

In this thesis we present the design and implementation of a novel self-reconfiguring modular (SR-MR) robotic system: Roombots. We are aiming at three main applications with Roombots; locomotion through self-reconfiguration in the regular cubic 3D-lattice ...

EPFL2010

The MarXbot, a Miniature Mobile Robot Opening new Perspectives for the Collective-robotic Research

Francesco Mondada, Hannes Bleuler, Stéphane Magnenat, Michael Bonani, Daniel Burnier, Valentin Longchamp, Florian Christopher Vaussard, Philippe Rétornaz, Gilles Roulet

Collective and swarm robotics explores scenarios involving many robots running at the same time. A good platform for collective-robotic experiments should provide certain features among others: it should have a large battery life, it should be able to perc ...

IEEE Press2010

Self-Assembly Strategies in a Group of Autonomous Mobile Robots

Roderich Gross

Robots are said to be capable of self-assembly when they can autonomously form physical connections with each other. By examining different ways in which a system can use self-assembly (i.e., different strategies), we demonstrate and quantify the performan ...

2010

Robotique collective et auto-assemblage : une étude mécatronique

Michael Bonani

We present a study of collective robotics by including a mechatronics point of view. In the field it is usually claimed that collective robots are simple and relatively cheap because they are produced in large quantities. Instead in our study we show that ...

EPFL2010