Publications related to SWARM-BOT: Pattern Formation in a Swarm of Self-Assembling Mobile Robots

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

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Hala Khodr

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

EPFL2023

Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots

Dario Floreano, Hoang Vu Phan, Yi Sun, Krishna Manaswi Digumarti, Omar Aloui

Electro-adhesive clutches have become effective tools for variable stiffness functions in many robotic systems due to their light weight, high speed and strong brake force. In this paper, we present a novel, tubular design of an electro-adhesive clutch. Ou ...

IEEE2022

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

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

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

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

Design, Modeling, and Control Methods for Fluid-Mediated Programmable Self-Assembly of Resource-Constrained Robotic Modules

Bahar Haghighat

The newly emerged and quickly growing science of nanotechnology has been recognized as one of ``the twenty-first century's great leaps forward in scientific knowledge''. Self-assembly provides a powerful enabling technique for nanotechnology by providing a ...

EPFL2018

SWARM-BOT: Pattern Formation in a Swarm of Self-Assembling Mobile Robots

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

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots

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

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

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

Automatic Couplings with Mechanical Overload Protection for Modular Robots

Design, Modeling, and Control Methods for Fluid-Mediated Programmable Self-Assembly of Resource-Constrained Robotic Modules

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

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

Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots

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

Measurement Scheduling for Cooperative Localization in Resource-Constrained Conditions

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

Automatic Couplings with Mechanical Overload Protection for Modular Robots

Design, Modeling, and Control Methods for Fluid-Mediated Programmable Self-Assembly of Resource-Constrained Robotic Modules

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