Publications related to Self-assembly of mobile robots - From swarm-bot to super-mechano colony

Colloidal self-assembly of soft neural interfaces from injectable photovoltaic microdevices

Mahmut Selman Sakar, Zhangjun Huang, Murat Kaynak, Haiyan Jia

Biomimetic retinas with a wide field of view and high resolution are in demand for neuroprosthetics and robot vision. Conventional neural prostheses are manufactured outside the application area and implanted as a complete device using invasive surgery. He ...

2023

An Autonomous Robotic Platform to Manipulate Collective Behavior in Ants

Matthias Rüegg

Eusocial life is characterized by division of labour, collective decision making and self organization, and regarded as the highest form of social organisation in groups. Ants are a model organism for research in collective behavior and the evolution of eu ...

EPFL2023

Robotic manipulation to investigate the physical principles of biological self-organization

Fazil Emre Uslu

Self-organization is the spontaneous formation of ordered patterns and networks from a population of comparatively simple elements or individuals with no prior information on neither the formation process nor the final organization. While the construction ...

EPFL2022

Piezoelectric Grippers for Mobile Micromanipulation

Tristan Abondance, Kaushik Jayaram

The ability to efficiently and precisely manipulate objects in inaccessible environments is becoming an essential requirement for many applications of mobile robots, particularly at small sizes. Here, we propose and implement a mobile micromanipulation sol ...

2020

Measurement Scheduling for Cooperative Localization in Resource-Constrained Conditions

Qi Yan, Li Jiang

This letter studies the measurement scheduling problem for a group of

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mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as battery life a ...

2020

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

Alcherio Martinoli, Hala Khodr, Bahar Haghighat

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 ...

ELSEVIER2019

Evo-Bots: A Simple, Stochastic Approach to Self-assembling Artificial Organisms

Francesco Mondada, Roderich Gross

This paper describes an alternative path towards artificial life-one by which simple modular robots with novel hybrid motion control are used to represent artificial organisms. We outline conceptually how such a system would work, and present a partial har ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Automatic Couplings with Mechanical Overload Protection for Modular Robots

Jamie Paik, Christoph Heinrich Belke

This paper presents an automatic coupling mechanism with mechanical overload protection for use in modular robotic systems. The genderless coupling incorporates a novel safety mechanism that disengages two modules at a pre-defined torque threshold. Several ...

2019

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

Alcherio Martinoli, Bahar Haghighat

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 ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

How Fast Is Too Fast? The Role of Perception Latency in High-Speed Sense and Avoid

Davide Scaramuzza

In this letter, we study the effects that perception latency has on the maximum speed a robot can reach to safely navigate through an unknown cluttered environment. We provide a general analysis that can serve as a baseline for future quantitative reasonin ...

2019

Self-assembly of mobile robots - From swarm-bot to super-mechano colony

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Colloidal self-assembly of soft neural interfaces from injectable photovoltaic microdevices

An Autonomous Robotic Platform to Manipulate Collective Behavior in Ants

Robotic manipulation to investigate the physical principles of biological self-organization

Piezoelectric Grippers for Mobile Micromanipulation

Measurement Scheduling for Cooperative Localization in Resource-Constrained Conditions

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

Evo-Bots: A Simple, Stochastic Approach to Self-assembling Artificial Organisms

Automatic Couplings with Mechanical Overload Protection for Modular Robots

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

How Fast Is Too Fast? The Role of Perception Latency in High-Speed Sense and Avoid

Piezoelectric Grippers for Mobile Micromanipulation

An Autonomous Robotic Platform to Manipulate Collective Behavior in Ants

Colloidal self-assembly of soft neural interfaces from injectable photovoltaic microdevices

Robotic manipulation to investigate the physical principles of biological self-organization

Measurement Scheduling for Cooperative Localization in Resource-Constrained Conditions

Evo-Bots: A Simple, Stochastic Approach to Self-assembling Artificial Organisms

Automatic Couplings with Mechanical Overload Protection for Modular Robots

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

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

How Fast Is Too Fast? The Role of Perception Latency in High-Speed Sense and Avoid