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SWARM-BOT: A Swarm of Autonomous Mobile Robots with Self-Assembling Capabilities

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Distributed Scalable Multi-Robot Learning using Particle Swarm Optimization

Alcherio Martinoli, James Pugh

Designing effective behavioral controllers for mobile robots can be difficult and tedious; this process can be circumvented by using online learning techniques which allow robots to generate their own controllers online in an automated fash- ion. In multi- ...

2009

Stochastic Strategies for a Swarm Robotic Assembly System

We present a decentralized, scalable approach to assembling a group of heterogeneous parts into different products using a swarm of robots. While the assembly plans are predetermined, the exact sequence of assembly of parts and the allocation of subassembl ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2009

Swarm-bots to the Rescue

Francesco Mondada, Michael Bonani, Roderich Gross

We explore the problem of resource allocation in a system made up of autonomous agents that can either carry out tasks individually or, when necessary, cooperate by forming physical connections with each other. We consider a group transport scenario that i ...

Springer Verlag2009

Self-Assembly from Milli- to Nanoscales: Methods and Applications

Massimo Mastrangeli

The design and fabrication techniques for microelectromechanical systems (MEMS) and nanodevices are progressing rapidly. However, due to material and process flow incompatibilities in the fabrication of sensors, actuators and electronic circuitry, a final ...

Institute of Physics2009

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

Jürgen Brugger, Alcherio Martinoli, Grégory Mermoud

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 ...

IFAAMAS2009

Evolution of solitary and group transport behaviors for autonomous robots capable of self-assembling

Roderich Gross

Group transport is being performed in many natural systems and has become a canonical task for studying cooperation in robotics. We simulate a system of simple, insect-like robots that can move autonomously and grasp objects as well as each other. We use a ...

2008

Synthesis, modeling, and experimental validation of distributed robotic search

James Pugh

The work of this thesis centers around the research subject of distributed robotic search. Within the field of distributed robotic systems, a task of particular interest is attempting to locate one or more targets in a possibly unknown environment. While n ...

EPFL2008

An Exploration of Online Parallel Learning in Heterogeneous Multi-Robot Swarms

Alcherio Martinoli, James Pugh

Designing effective behavioral controllers for mobile robots can be difficult and tedious; this process can be circumvented by using unsupervised learning techniques which allow robots to evolve their own controllers online in an automated fashion. In mult ...

Springer2008

Parallel Learning in Heterogeneous Multi-Robot Swarms

Alcherio Martinoli, James Pugh

2007

Fifty years of self-assembly experimentation

Roderich Gross

In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the study of 22 such systems, exhibiting components ranging from passive mecha ...

USC Information Science Institute2007