Fluid-Mediated Programmable Self-Assembling of Robotic Modules
Programmable self-assembly of miniature robotic modules provides a promising means for realizing programmable matter. This project is focused on programmable stochastic self-assembly of robotic modules in an aquatic environment. The project is basically divided into two main research thrusts: (i) a technological research thrust concerned with the design, the fabrication, and the packaging of the experimental platform, and (ii) a theoretical research thrust concerned with the development of distributed, stochastic control schemes supported by a flexible modeling framework. Such a modeling framework shall enable to predict and optimize the dynamics of the proposed distributed robotic platform as a function of a large variety of design and control parameters, therefore strongly linking the two research thrusts.
The expected outcomes of this project are two-fold. First, our research consolidates and improve the design of centimeter-sized distributed robotic platforms based on mechatronic technology. Second, we aim at updating and extending state-of-the-art methodologies for designing, modeling, and controlling massively distributed, stochastic robotic systems. This project is definitely oriented towards basic research: even though it aims at delivering concrete demonstrators, it does not yet target any specific application.d confined in 2D.
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Publications
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2019
Lightweight physics-based models for the control of fluid-mediated self-assembly of robotic modules
2019.14th International Symposium on Distributed Autonomous Robotic Systems (DARS), Boulder, Colorado, USA, October 15-17, 2018. p. 197-210. DOI : 10.1007/978-3-030-05816-6_14.
2019.13th International Symposium on Distributed Autonomous Robotic Systems (DARS), London, ENGLAND, Nov 07-09, 2016. DOI : 10.1007/978-3-319-73008-0_23.
2017.IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, September 24–28, 2017. p. 4656-5663. DOI : 10.1109/IROS.2017.8206337.
2016.IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, October 9-14, 2016. p. 2778-2783. DOI : 10.1109/IROS.2016.7759431.
