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Cooperation through self-assembly in multi-robot

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This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

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

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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 ...

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Environmental monitoring and mapping operations are an essential tool to combat climate change. An important branch of this domain concerns the construction of reliable gas maps. Adaptive navigation strategies coupled with multi-robot systems improve the o ...

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More specifically, a behavior-based controller for a multi-robot exploration scenario is automatically synthesized using a predefined set of basic behaviors and conditions. A key feature of the used synthesis approach is the tailored use of two modeling le ...

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A Distributed Source Term Estimation Algorithm for Multi-Robot Systems

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Finding sources of airborne chemicals with mobile sensing systems finds applications in safety, security, and emergency situations related to medical, domestic, and environmental domains. Given the often critical nature of all the applications, it is impor ...

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We are entering the era of robots, for everyone, everywhere. The expectations of the robots being reliable, intelligent and friendly artificial creatures drive the key challenges of the state-of-the-art robotics: technological, practical and social. The la ...

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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 ...

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

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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, 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 ...

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