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

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

Distributed Predictive Drone Swarms in Cluttered Environments

Dario Floreano, Fabrizio Schiano, Enrica Soria

Recent works in aerial robotics show that the self-organized and cohesive flight of swarms can emerge from the exchange of purely local information between neighboring agents. However, most of the current swarm models are not capable of flight in densely c ...

2021

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

Design and Calibration of a Lightweight Physics-Based Model for Fluid-Mediated Self-Assembly of Robotic Modules

Alcherio Martinoli, Hala Khodr, Bahar Haghighat

In this paper, we consider a system consisting of multiple floating robotic modules performing self-assembly. Faithfully modeling such a system and its inter-module interactions typically involves capturing the hydrodynamic forces acting on the modules usi ...

Springer2019

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

A reconfiguration strategy for modular robots using origami folding

Jamie Paik, Christoph Heinrich Belke, Meibao Yao

Reconfigurability in versatile systems of modular robots is achieved by changing the morphology of the overall structure as well as by connecting and disconnecting modules. Recurrent connectivity changes can cause misalignment that leads to mechanical fail ...

2018

Automatic synthesis of rulesets for programmable stochastic self-assembly of rotationally symmetric robotic modules

Alcherio Martinoli, Bahar Haghighat

Programmable stochastic self-assembly of modular robots provides promising means to formation of structures at different scales. One way to address the design of dedicated control rulesets for self-assembling robotic modules is to leverage formalisms based ...

2017

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

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

Distributed Predictive Drone Swarms in Cluttered Environments

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

Design and Calibration of a Lightweight Physics-Based Model for Fluid-Mediated Self-Assembly of Robotic Modules

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

A reconfiguration strategy for modular robots using origami folding

Automatic synthesis of rulesets for programmable stochastic self-assembly of rotationally symmetric robotic modules

Design and Calibration of a Lightweight Physics-Based Model for 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

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

A reconfiguration strategy for modular robots using origami folding

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

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

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

Automatic synthesis of rulesets for programmable stochastic self-assembly of rotationally symmetric robotic modules

Distributed Predictive Drone Swarms in Cluttered Environments