Group Transport Along a Robot Chain in a Self-Organised Robot Colony
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Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...
EPFL2023
The coordination of multi-robot systems is becoming one of the most important areas of research in robotics, mostly because it is required by numerous complex applications. These applications range from intelligent transportation systems, search and rescue ...
EPFL2015
Self-organization is the spontaneous formation of ordered patterns and networks from a population of comparatively simple elements or individuals with no prior information on neither the formation process nor the final organization. While the construction ...
EPFL2022
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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
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We present a multibody simulator being used for compliant humanoid robot modelling and report our reasoning for choosing the settings of the simulator's key features. First, we provide a study on how the numerical integration speed and accuracy depend on t ...
In this paper, a hybrid nonlinear proportional-derivative-sliding mode controller (NPD-SMC) is developed for the trajectory tracking of robot manipulators. The proposed controller combines the advantage of the easy implementation of NPD control and the rob ...
This paper presents an algorithm to calculate mechanical stability margins of a Modular Snake Robot (MSR) during scouting poses. Scouting poses are defined as robot configurations in which one or two of the end modules of the robot are raised up to increas ...
While reconfigurable robots provide a new promising approach for interactive systems, the complexity of distributed actuation/sensing systems, coupled kinematics and desired functionalities also bring new challenges and questions both in control design and ...
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 ...
In this paper we address the automatic synthesis of controllers for the coordinated movement of multiple mobile robots. We use a noise-resistant version of Particle Swarm Optimization to learn in simulation a set of 50 weights of a plastic artificial neura ...
