Concept

Microbotics

Related publications (186)

Modeling Self-Organized Aggregation in a Swarm of Miniature Robots

We model the dynamics of self-organized robot aggregation inspired by a study on aggregation of gregarious arthropods. In swarms of German cockroaches, aggregation into clusters emerges solely from local interactions between the individuals, whereas the pr ...

2007

Miniaturized mobile robot for inspection of ferromagnetic structures

Pascal Gilbert

This project aims to develop a miniaturized mobile robot for inspection of ferromagnetic structures. The robot should be small enough to fit inside water pipes with a diameter of typically 1 inch (2.5 cm), for inspection purposes. However, if a mechanism i ...

2007

Robust Distributed Coverage using a Swarm of Miniature Robots

Alcherio Martinoli, Nicolaus Correll

For the multi-robot coverage problem deterministic deliberative as well as probabilistic approaches have been proposed. Whereas deterministic approaches usually provide provable completeness and promise good performance under perfect conditions, probabilis ...

2007

Communication in a Swarm of Miniature Robots: The e-Puck as an Educational Tool for Swarm Robotics

Alcherio Martinoli, James Pugh, Christopher Cianci, Xavier Raemy

Swarm intelligence, and swarm robotics in particular, are reaching a point where leveraging the potential of communication within an artificial systempromises to uncover newand varied directions for interesting research without compromising the key propert ...

2007

Coordination schemes for distributed boundary coverage with a swarm of miniature robots

Nicolaus Correll

We provide a comparison of a series of original coordination mechanisms for the distributed boundary coverage problem with a swarm of miniature robots. Our analysis is based on real robot experimentation and models at different levels of abstraction. Distr ...

EPFL2007

A Two-Time-Scale Control Scheme for Fast Systems

Dominique Bonvin, Philippe Müllhaupt, Sébastien Gros, Davide Buccieri

Model predictive control (MPC) is a very effective approach to control nonlinear systems, especially when the systems are high dimensional and/or constrained. MPC formulates the problem of input trajectory generation as an optimization problem. However, du ...

2007

Design and control of quadrotors with application to autonomous flying

Samir Bouabdallah

This thesis is about modelling, design and control of Miniature Flying Robots (MFR) with a focus on Vertical Take-Off and Landing (VTOL) systems and specifically, micro quadrotors. It introduces a mathematical model for simulation and control of such syste ...

EPFL2007

A 1.5g SMA actuated Microglider looking for the Light

Dario Floreano, André Guignard, Mirko Kovac, Jean-Daniel Nicoud, Jean-Christophe Zufferey

Summarizing, we present a 1.5g gliding robot that can do phototaxis as a first step towards a novel palm sized self deploying microglider. To reduce the weight, we developed a 0.2g SMA actuator for rudder control that is harmoniously integrated in the airf ...

2007

Novel locomotion principle for mobile micro robots

Reymond Clavel, Jean-Marc Breguet, Walter Driesen

This paper presents a novel locomotion concept for mobile micro robots: the “friction drive principle”. It allows for easy miniaturization and high velocities for low power consumption and simple onboard electronics. A prototype (Ø20 mm × 7.5 mm) with two ...

2006

PocketFactory : a modular and miniature assembly chain including a clean environment

Reymond Clavel, Irène Verettas

The manipulation and assembly of microsystems (MEMS) require accurate robots operating in a clean room environment. Available systems require usually large ground surface for small components and are bulky. Furthermore it is difficult to move it to another ...

2006

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