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Comparing and modeling distributed control strategies for miniature self-assembling robots

Publications associées (32)

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Communication-based Swarming for Flying Robots

Dario Floreano, Jean-Christophe Zufferey, Sabine Hauert, Severin Leven

Swarms of flying robots can be used in disaster areas to autonomously create communication networks for rescuers and victims. Flying robots have the advantage of rapidly overcoming difficult terrain and providing unobstructed wireless communication. To all ...

2010

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

Towards Group Transport by Swarms of Robots

Roderich Gross

We examine the ability of a swarm robotic system to transport cooperatively objects of different shapes and sizes. We simulate a group of autonomous mobile robots that can physically connect to each other and to the transported object. Controllers — artifi ...

2009

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

Planner9, a HTN planner distributed on groups of miniature mobile robots

Francesco Mondada, Stéphane Magnenat, Martin Voelkle

Autonomous mobile robots are promising tools for operations in environments that are difficult to access for humans. When these environments are dynamic and non-deterministic, like in collapsed buildings, the robots must coordinate their actions and the us ...

Springer2009

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

Self-Organised Coordinated Motion in Groups of Physically Connected Robots

Francesco Mondada, Mirco Dorigo, Michael Bonani

An important goal of collective robotics is the design of control systems that allow groups of robots to accomplish common tasks by coordinating without centralized control. In this paper, we study how a group of physically assembled robots can display coh ...

2007

Applying Aspects of Multi-Robot Search to Particle Swarm Optimization

Alcherio Martinoli, James Pugh, Loïc Segapelli

We present a modified version of the Particle swarm Optimization algorithm in which we adjust the virtual swarm search by incorporating inter-agent dynamics native to multi-robot search scenarios. The neighborhood structure of PSO is modified to accurately ...

2006

Multi-Robot Learning with Particle Swarm Optimization

Alcherio Martinoli, James Pugh

We apply an adapted version of Particle Swarm Optimization to distributed unsupervised robotic learning in groups of robots with only local information. The performance of the learning technique for a simple task is compared across robot groups of various ...

2006

Evolving Vision-based Flying Robots

Dario Floreano, Jean-Christophe Zufferey

We describe a new experimental approach whereby an indoor flying robot evolves the ability to navigate in a textured room using only visual information and neuromorphic control. The architecture of a spiking neural circuit, which is connected to the vision ...

2002