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

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 1438-1445

  Evans, William C ^a   Mermoud, Grégory ^a   Martinoli, Alcherio ^a  

^a EPFL   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

CHAIN SIZE; CHEMICAL REACTION NETWORKS; DISTRIBUTED CONTROL; DISTRIBUTED CONTROL STRATEGY; EXPLORATION AND EXPLOITATION; MACROSCOPIC MODEL; MOBILE ROBOTIC; OPTIMAL PARAMETER; REALISTIC SIMULATORS; SELF-ASSEMBLING; SELF-ASSEMBLING ROBOTS;

ROBOTICS; ROBOTS;

CONTROLLERS;

EID: 77955812520     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509666     Document Type: Conference Paper

References (25)

1. A. Zangwill, "Statistical physics: Advances in aggregation." Nature, vol. 411, no. 6838, pp. 651-652, 2001.
2. T. Clark, J. Tien, D. Duffy, K. Paul, and G. Whitesides, "Self-assembly of 10-m-sized objects into ordered three-dimensional arrays," J. of the American Chemical Society, vol. 123, pp. 7677-7682, 2001.
3. J. Parrish and W. Hamner, Animal Groups in Three Dimensions: How Species Aggregate. Cambridge University Press, 1997.
4. W. Agassounon, A. Martinoli, and K. Easton, "Macroscopic modeling of aggregation experiments using embodied agents in teams of constant and time-varying sizes," Autonomous Robots, vol. 17, no. 2-3, pp. 163-192, 2004.
5. R. Gross, M. Bonani, F. Mondada, and M. Dorigo, "Autonomous self-assembly in swarm-bots," IEEE Trans. on Robotics, vol. 22, no. 6, pp. 1115-1130, 2006.
6. G. Whitesides and B. Grzybowski, "Self-assembly at all scales," Science, vol. 295, no. 5564, pp. 2418-2421, 2002.
7. G. Caprari and R. Siegwart, "Mobile micro-robots ready to use: Alice," Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on, pp. 3295-3300, 2005.
8. D. Wilkinson, Stochastic Modelling for Systems Biology, ser. Mathematical and Computational Biology Series. CRC Press, Jan 2006.
9. D. Gillespie, "Exact stochastic simulation of coupled chemical reactions," The J. of Physical Chemistry, vol. 81, no. 25, pp. 2340-2361, Jan 1977.
10. -, "Stochastic simulation of chemical kinetics," Annual Review of Physical Chemistry, vol. 58, pp. 35-55, 2007.
11. A. Martinoli, "Swarm intelligence in autonomous collective robotics: From tools to the analysis and synthesis of distributed control strategies," Unpublished doctoral manuscript n. 2069, EPFL, Lausanne, October 1999.
12. S. Garnier, C. Jost, J. Gautrais, M. Asadpour, G. Caprari, R. Jeanson, A. Grimal, and G. Theraulaz, "The embodiment of cockroach aggregation behavior in a group of micro-robots," Artificial Life J., vol. 14, no. 4, pp. 387-408, Jan 2008.
13. J. Halloy, G. Sempo, G. Caprari, C. Rivault, M. Asadpour, F. Tache, I. Said, V. Durier, S. Canonge, J. Ame, C. Detrain, N. Correll, A. Martinoli, F. Mondada, R. Siegwart, and J. Deneubourg, "Social integration of robots into groups of cockroaches to control self-organized choices," Science, vol. 318, pp. 1155-1158, 2007.
14. E. Klavins, "Programmable self-assembly," IEEE Control Systems Mag., vol. 27, pp. 43-56, 2007.
15. L. Matthey, S. Berman, and V. Kumar, "Stochastic strategies for a swarm robotic assembly system." in IEEE 2009 International Conference on Robotics and Automation (ICRA 2009). IEEE, 2009, pp. 1953-1958.
16. S. Berman, A. Halasz, V. Kumar, and S. Pratt, "Bio-inspired group behaviors for the deployment of a swarm of robots to multiple destinations," Robotics and Automation, 2007 IEEE International Conference on, pp. 2318-2323, 2007.
17. A. Julius, A. Halasz, M. Sakar, H. Rubin, V. Kumar, and G. Pappas, "Stochastic modeling and control of biological systems: The lactose regulation system of escherichia coli," IEEE Trans. on Automatic Control, vol. 53, pp. 51-65, Jan 2008.
18. H. Tanner, A. Jadbabaie, and G. Pappas, "Flocking in teams of nonholonomic agents," Lecture Notes in Control and Information Sciences, vol. 309, pp. 229-239, 2005.
19. A. Jadbabaie, J. Lin, and A. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Trans. on Automatic Control, vol. 48, no. 6, pp. 988-1001, 2003.
20. G. Pereira, V. Kumar, and M. Campos, "Closed loop motion planning of cooperating mobile robots using graph connectivity," Robotics and Autonomous Systems, vol. 56, no. 4, pp. 373-384, 2008.
21. A. Martinoli, K. Easton, and W. Agassounon, "Modeling swarm robotic systems: A case study in collaborative distributed manipulation," Int. J. of Robotics Research, vol. 23, no. 4-5, pp. 415-436, 2004.
22. G. Mermoud, J. Brugger, and A. Martinoli, "Towards multi-level modeling of self-assembling intelligent micro-systems," in AAMAS '09: Proc. of the 8th Int. Conf. on Autonomous Agents and Multiagent Systems, Richland, SC, May 2009, pp. 89-96.
23. T. Lochmatter, P. Roduit, C. Cianci, N. Correll, J. Jacot, and A. Martinoli, "Swistrack - a flexible open source tracking software for multi-agent systems," in IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems (IROS 2008). IEEE, 2008, pp. 4004-4010.
24. H. Li, Y. Cao, L. Petzold, and D. Gillespie, "Algorithms and software for stochastic simulation of biochemical reacting systems," Biotechnology Progress, vol. 24, no. 1, pp. 56-61, Jan 2008.
25. L. Matthey, "Hybrid reactions modeling for top-down design hybrid reactions modeling for top-down design framework," Master's thesis, EPFL, KUMAR-SWIS-MP12, 2008.