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Autonomous Self-assembly in a Swarm-bot

Publications associées (248)

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Wheel torque control for a rough terrain rover

Roland Siegwart, Pierre Lamon, Michel Lauria

Navigating in rough terrain is a complex task that requires the robot to be considered as a holistic system. Algorithms, which don’t consider the physical dimensions and capabilities of the mobile robot lead to inefficient motion and suffer from a la ...

2004

Modeling of Swarm Robotic Systems: A Case Study in Collaborative Distributed Manipulation

Alcherio Martinoli

In this paper, we present a time-discrete, incremental methodology for modeling, at the microscopic and macroscopic level, the dynamics of distributed manipulation experiments using swarms of autonomous robots endowed with reactive controllers. The methodo ...

2004

SWARM-BOT: a New Distributed Robotic Concept

Dario Floreano, Francesco Mondada, André Guignard, Mirco Dorigo, Luca Maria Gambardella

The swarm intelligence paradigm has proven to have very interesting properties such as robustness, flexibility and ability to solve complex problems exploiting parallelism and self-organization. Several robotics implementations of this paradigm confirm tha ...

2004

Towards a new Delta robot: an inverted Delta

In the way of developing fast parallel robots, the following work proposes a development of a new delta robot. This robot is a 3 d.o.f. parallel robot based on a Delta-like kinematics [Clavel 88, 92]. It is actually an inverted Delta in which the parallel ...

2004

Profibus PC based motion control with application to a new 5 axes parallel kinematics

Reymond Clavel, Mohamed Bouri, Patric Pham

Generally the classical control architecture used to carry out a robot position control is based on a classical industrial motion planner that needs encoders cabling and analog cabling to insure the regulation loop. This work proposes a Profibus PC based c ...

2004

Evolving aggregation behaviors in a swarm of robots

Roderich Gross

In this paper, we study aggregation in a swarm of simple robots, called s-bots, having the capability to self-organize and self-assemble to form a robotic system, called a swarm-bot. The aggregation process, observed in many biological systems, is of funda ...

Springer Verlag2003

Vision-based Navigation from Wheels to Wings

Dario Floreano, Jean-Christophe Zufferey, Antoine Beyeler

We describe an incremental approach towards the development of autonomous indoor flyers that use only vision to navigate in textured environments. In order to cope with the severe weight and energy constraints of such systems, we use spiking neural control ...

2003

Multi-Robot Human-Interation and Visitor Flow Management

Roland Siegwart, Björn Jensen, Guy Ramel

In this paper we address the task of human-robot interaction in public mass exposition with several autonomous robots at a time. This implies questions regarding multi-robot control and interaction management with respect to social and commercial aspects o ...

2003

Topological Analysis of Robotic N-Wheeled Ground Vehicles

Roland Siegwart, Michel Lauria

Robotic ground vehicles are systems that use gravity and contact forces with the ground to perform motion. In this paper we will focus on n-wheeled vehicles able to perform motion with all the wheels maintaining contact at the same time. The main goal of t ...

2003

The Accuracy on the Parameter Estimation of an Odometry System of a Mobile Robot

The odometry error of a mobile robot contains both sys- tematic and non-systematic components. The first ones are independent of the environment while the second ones depend on the interaction of the robot with the environ- ment where the robot moves. In t ...

2002