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Claytronics Group Publications Listed by Topic
|
Actuation |
|
Analysis and Modeling of Capacitive Power Transfer in Microsystems | bib | |
Mustafa Emre Karagozler, Seth Copen Goldstein, and David S. Ricketts.
Circuits and Systems I: Regular Papers, IEEE Transactions on,
59(7):1557 –1566,July, 2012.
|
| @article{karagozler-TCCS12,
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Ricketts, David S.},
journal = {Circuits and Systems I: Regular Papers, IEEE Transactions
on},
title = {Analysis and Modeling of Capacitive Power Transfer in
Microsystems},
year = {2012},
month = {July},
volume = {59},
number = {7},
pages = {1557 -1566},
keywords = {Actuation, Adhesion,Power},
doi = {10.1109/TCSI.2011.2177011},
issn = {1549-8328},
}
|
|
Electrostatic actuation and control of micro robots using a post-processed high-voltage SOI CMOS chip | bib | |
Mustafa Emre Karagozler, A. Thaker, Seth Copen Goldstein, and David S. Ricketts.
In Circuits and Systems (ISCAS), 2011 IEEE International Symposium on,
():2509 –2512,May, 2011.
|
| @inproceedings{karagozler-iscas11,
author = {Karagozler, Mustafa Emre and Thaker, A. and Goldstein,
Seth Copen and Ricketts, David S.},
booktitle = {Circuits and Systems (ISCAS), 2011 IEEE International
Symposium on},
title = {Electrostatic actuation and control of micro robots using a
post-processed high-voltage SOI CMOS chip},
year = {2011},
month = {May},
volume = {},
number = {},
pages = {2509 -2512},
keywords = {Robot Fabrication, Actuation},
doi = {10.1109/ISCAS.2011.5938114},
issn = {0271-4302},
}
|
|
Stress-driven mems assembly+ electrostatic forces= 1mm diameter robot | pdf bib | |
Mustafa Emre Karagozler, Seth Copen Goldstein, and J Robert Reid.
In Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on,
pages 2763–2769, 2009.
|
| @inproceedings{karagozler-iros09,
title = {Stress-driven mems assembly+ electrostatic forces= 1mm
diameter robot},
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Reid, J Robert},
booktitle = {Intelligent Robots and Systems, 2009. IROS 2009.
IEEE/RSJ International Conference on},
pages = {2763--2769},
year = {2009},
keywords = {Robot Fabrication, Actuation},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros09.pdf},
}
|
|
Collective Actuation | bib | |
Jason D. Campbell and Padmanabhan Pillai.
International Journal of Robotics Research,
27(3-4):299–314,2008.
|
| @article{campbell-ijrr-srmr,
author = {Campbell, Jason D. and Pillai, Padmanabhan},
title = {Collective Actuation},
journal = {International Journal of Robotics Research},
volume = {27},
number = {3-4},
year = {2008},
pages = {299-314},
keywords = {Actuation, Controlling Ensembles},
abstract = {Modular robot designers confront an inherent tradeoff
between size and power: Smaller, more numerous modules increase
the adaptability of a given volume or mass of robot---allowing
the aggregate robot to take on a wider variety of
configurations---but do so at a cost of reducing the power and
complexity budget of each module. Fewer, larger modules can
incorporate more powerful actuators and stronger hinges but at a
cost of overspecializing the resulting robot in favor of
corresponding uses. In the paper we describe a technique for
coordinating the efforts of many tiny modules to achieve forces
and movements larger than those possible for individual modules.
In a broad sense, the question of actuator capacity and range
thus may become one of software coding and ensemble topology as
well as of hardware design. An important aspect of this technique
is its ability to bend complex and large-scale structures and to
realize the equivalent of large scale joints. Although our
results do not suggest that modular robots will replace high
power purpose-built robots, they do offer an increase in the
plausible scalability of modular robot self-reconfiguration and
facilitate a corresponding increase in adaptability.},
}
|
|
A Modular Robotic System Using Magnetic Force Effectors | pdf bib | |
Brian Kirby, Burak Aksak, Seth Copen Goldstein, James F. Hoburg, Todd C. Mowry, and Padmanabhan Pillai.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
October, 2007.
|
| @inproceedings{bkirby-iros07,
author = {Kirby, Brian and Aksak, Burak and Goldstein, Seth Copen
and Hoburg, James F. and Mowry, Todd C. and Pillai, Padmanabhan},
title = {A Modular Robotic System Using Magnetic Force Effectors},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
year = {2007},
month = {October},
abstract = {One of the primary impediments to building ensembles
with many modular robots is the complexity and number of
mechanical mechanisms used to construct the individual modules.
As part of the Claytronics project---which aims to build very
large ensembles of modular robots---we investigate how to
simplify each module by eliminating moving parts and reducing the
number of mechanical mechanisms on each robot by using
force-at-a-distance actuators. Additionally, we are also
investigating the feasibility of using these unary actuators to
improve docking performance, implement intermodule adhesion,
power transfer, communication, and sensing.},
keywords = {Actuation, Adhesion},
url = {http://www.cs.cmu.edu/~claytronics/papers/bkirby-iros07.pdf},
}
|
|
Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots | pdf bib | |
Mustafa Emre Karagozler, Jason D. Campbell, Gary K. Fedder, Seth Copen Goldstein, Michael Philetus Weller, and Byung W. Yoon.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
October, 2007.
See karagozler-msreport07.
|
| @inproceedings{karagozler-iros07,
author = {Karagozler, Mustafa Emre and Campbell, Jason D. and
Fedder, Gary K. and Goldstein, Seth Copen and Weller, Michael
Philetus and Yoon, Byung W.},
title = {Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
see = {karagozler-msreport07},
year = {2007},
month = {October},
abstract = {A simple and robust inter-module latch is possibly the
most important component of a modular robotic system. This paper
describes a latch based on capacitive coupling which not only
provides significant adhesion forces, but can also be used for
inter-module power transmission and communication. The key
insight that enables electrostatic adhesion to be effective at
the macroscale is to combine flexible electrodes with a geometery
that uses shear forces to provide adhesion. To measure the
effectiveness of our latch we incorporated it into a 28cm x 28cm
x 28cm modular robot. The result is a latch which requires almost
zero static power and yet can hold over 0.6N/cm^2 of latch
area.},
keywords = {Actuation, Adhesion},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros07.pdf},
}
|
|
Harnessing Capacitance for Inter-Robot Latching, Communication, and Power Transfer | pdf bib | |
Mustafa Emre Karagozler.
Master's Thesis, Carnegie Mellon University,
May, 2007.
Also appeared as Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots in IROS '07.
|
| @mastersthesis{karagozler-msreport07,
author = {Karagozler, Mustafa Emre},
title = {Harnessing Capacitance for Inter-Robot Latching,
Communication, and Power Transfer},
venue = {Masters Thesis},
also = {Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots in IROS '07},
month = {May},
year = {2007},
school = {Carnegie Mellon University},
abstract = {A simple and robust inter-module latch is possibly the
most important component of a modular robotic system. This report
describes a latch based on capacitive coupling which not only
provides significant adhesion forces, but can also be used for
inter-module power transmission and communication. The key
insight that enables electrostatic adhesion to be effective at
the macro scale is to combine flexible electrodes with a geometry
that uses shear forces to provide adhesion. To measure the
effectiveness of our latch we incorporated it into a 28cm x 28cm
x 28cm modular robot. The result is a latch which requires almost
zero static power and yet can hold over 0.6N/cm2 of latch area.},
keywords = {Actuation, Adhesion, Power},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-msreport07.pdf},
}
|
|
Locomotion of Miniature Catom Chains: Scale Effects on Gait and Velocity | bib | |
David Johan Christensen and Jason D. Campbell.
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '07),
pages 2254–2260, April, 2007.
|
| @inproceedings{Christensen-icra07,
author = {Christensen, David Johan and Campbell, Jason D.},
title = {Locomotion of Miniature Catom Chains: Scale Effects on Gait
and Velocity},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation ({ICRA '07})},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
month = {April},
pages = {2254-2260},
keywords = {Biologically Inspired, Actuation, Controlling
Ensembles},
year = {2007},
}
|
|
Collective Actuation | pdf bib | |
Jason D. Campbell and Padmanabhan Pillai.
In RSS 2006 Workshop on Self-Reconfigurable Modular Robots,
August, 2006.
|
| |
Adhesion |
|
Analysis and Modeling of Capacitive Power Transfer in Microsystems | bib | |
Mustafa Emre Karagozler, Seth Copen Goldstein, and David S. Ricketts.
Circuits and Systems I: Regular Papers, IEEE Transactions on,
59(7):1557 –1566,July, 2012.
|
| @article{karagozler-TCCS12,
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Ricketts, David S.},
journal = {Circuits and Systems I: Regular Papers, IEEE Transactions
on},
title = {Analysis and Modeling of Capacitive Power Transfer in
Microsystems},
year = {2012},
month = {July},
volume = {59},
number = {7},
pages = {1557 -1566},
keywords = {Actuation, Adhesion,Power},
doi = {10.1109/TCSI.2011.2177011},
issn = {1549-8328},
}
|
|
A Modular Robotic System Using Magnetic Force Effectors | pdf bib | |
Brian Kirby, Burak Aksak, Seth Copen Goldstein, James F. Hoburg, Todd C. Mowry, and Padmanabhan Pillai.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
October, 2007.
|
| @inproceedings{bkirby-iros07,
author = {Kirby, Brian and Aksak, Burak and Goldstein, Seth Copen
and Hoburg, James F. and Mowry, Todd C. and Pillai, Padmanabhan},
title = {A Modular Robotic System Using Magnetic Force Effectors},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
year = {2007},
month = {October},
abstract = {One of the primary impediments to building ensembles
with many modular robots is the complexity and number of
mechanical mechanisms used to construct the individual modules.
As part of the Claytronics project---which aims to build very
large ensembles of modular robots---we investigate how to
simplify each module by eliminating moving parts and reducing the
number of mechanical mechanisms on each robot by using
force-at-a-distance actuators. Additionally, we are also
investigating the feasibility of using these unary actuators to
improve docking performance, implement intermodule adhesion,
power transfer, communication, and sensing.},
keywords = {Actuation, Adhesion},
url = {http://www.cs.cmu.edu/~claytronics/papers/bkirby-iros07.pdf},
}
|
|
Adhesion Behavior of Vertical and Aligned Polymer Microfibers | pdf bib | |
M.P. Murphy, Burak Aksak, and Metin Sitti.
In Proceedings of Adhesion Society Symposium,
February, 2007.
|
| @inproceedings{aksak-pass07,
author = {Murphy, M.P. and Aksak, Burak and Sitti, Metin},
title = {Adhesion Behavior of Vertical and Aligned Polymer
Microfibers},
booktitle = {Proceedings of Adhesion Society Symposium},
venue = {Proceedings of Adhesion Society Symposium},
year = {2007},
month = {February},
keywords = {Adhesion, Dry Adhesive},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-pass07.pdf},
}
|
|
Adhesion and Anisotropic Friction Enhancements of Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips | pdf bib | |
M.P. Murphy, Burak Aksak, and Metin Sitti.
Journal of Adhesion Science and Technology,
2007.
|
| @article{aksak-jast07,
author = {Murphy, M.P. and Aksak, Burak and Sitti, Metin},
title = {Adhesion and Anisotropic Friction Enhancements of Angled
Heterogeneous Micro-Fiber Arrays with Spherical and Spatula
Tips},
journal = {Journal of Adhesion Science and Technology},
venue = {Journal of Adhesion Science and Technology},
year = {2007},
institution = {NanoRobotics Laboratory, Department of Mechanical
Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania
15213},
abstract = {Angled polyurethane fiber arrays are modified by adding
soft spherical and spatula shaped tips by dipping. These fibers
are characterized for adhesion and friction and compared with
unmodified fibers and flat material samples. Sphere and spatula
tip fiber samples demonstrate increased adhesion, with 10 and 23
times the maximum adhesion of the unmodified fiber sample,
respectively. The sphere and spatula tip fiber samples also show
increased friction, with 1.6 and 4.7 times the maximum friction
of the unmodified fiber sample, respectively. Simultaneous
friction and adhesion is observed in a synthetic dry angled
fibrillar adhesive sample (spatula tip fiber sample) for the
first time. The direction dependent friction of angled fibers is
investigated and observed. The adhesion and friction results
reported in this paper suggest that fibers with negligible
adhesion can be modified to exhibit significant adhesion and
friction enhancement by the proposed fiber tip modifications.},
keywords = {Gecko, Adhesion, Angled Fiber Array, Friction, Dry
Adhesive, Bioinspired adhesive},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-jast07.pdf},
}
|
|
Adhesion of Biologically Inspired Vertical and Angled Polymer Microfiber Arrays | pdf bib | |
Burak Aksak, M.P. Murphy, and Metin Sitti.
Langmuir,
23(6):3322–32,February, 2007.
|
| @article{aksak-langmuir2007,
author = {Aksak, Burak and Murphy, M.P. and Sitti, Metin},
title = {Adhesion of Biologically Inspired Vertical and Angled
Polymer Microfiber Arrays},
journal = {Langmuir},
venue = {Langmuir},
year = {2007},
month = {February},
volume = {23},
pages = {3322--32},
number = {6},
institution = {NanoRobotics Laboratory, Department of Mechanical
Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania
15213},
issn = {0743-7463},
keywords = {Adhesion, Biologically Inspired},
abstract = {This paper proposes an approximate adhesion model for
fibrillar adhesives for developing a fibrillar adhesive design
methodology and compares numerical simulation adhesion results
with macroscale adhesion data from polymer microfiber array
experiments. A technique for fabricating microfibers with a
controlled angle is described for the first time. Polyurethane
microfibers with different hardnesses, angles, and aspect ratios
are fabricated using optical lithography and polymer micromolding
techniques and tested with a custom tensile adhesion measurement
setup. Macroscale adhesion and overall work of adhesion of the
microfiber arrays are measured and compared with the models to
observe the effect of fiber geometry and preload. The adhesion
strength and work of adhesion behavior of short and long vertical
and long angled fiber arrays have similar trends with the
numerical simulations. A scheme is also proposed to aid in
optimized fiber adhesive design.},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-langmuir2007.pdf},
}
|
|
Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots | pdf bib | |
Mustafa Emre Karagozler, Jason D. Campbell, Gary K. Fedder, Seth Copen Goldstein, Michael Philetus Weller, and Byung W. Yoon.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
October, 2007.
See karagozler-msreport07.
|
| @inproceedings{karagozler-iros07,
author = {Karagozler, Mustafa Emre and Campbell, Jason D. and
Fedder, Gary K. and Goldstein, Seth Copen and Weller, Michael
Philetus and Yoon, Byung W.},
title = {Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
see = {karagozler-msreport07},
year = {2007},
month = {October},
abstract = {A simple and robust inter-module latch is possibly the
most important component of a modular robotic system. This paper
describes a latch based on capacitive coupling which not only
provides significant adhesion forces, but can also be used for
inter-module power transmission and communication. The key
insight that enables electrostatic adhesion to be effective at
the macroscale is to combine flexible electrodes with a geometery
that uses shear forces to provide adhesion. To measure the
effectiveness of our latch we incorporated it into a 28cm x 28cm
x 28cm modular robot. The result is a latch which requires almost
zero static power and yet can hold over 0.6N/cm^2 of latch
area.},
keywords = {Actuation, Adhesion},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros07.pdf},
}
|
|
Harnessing Capacitance for Inter-Robot Latching, Communication, and Power Transfer | pdf bib | |
Mustafa Emre Karagozler.
Master's Thesis, Carnegie Mellon University,
May, 2007.
Also appeared as Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots in IROS '07.
|
| @mastersthesis{karagozler-msreport07,
author = {Karagozler, Mustafa Emre},
title = {Harnessing Capacitance for Inter-Robot Latching,
Communication, and Power Transfer},
venue = {Masters Thesis},
also = {Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots in IROS '07},
month = {May},
year = {2007},
school = {Carnegie Mellon University},
abstract = {A simple and robust inter-module latch is possibly the
most important component of a modular robotic system. This report
describes a latch based on capacitive coupling which not only
provides significant adhesion forces, but can also be used for
inter-module power transmission and communication. The key
insight that enables electrostatic adhesion to be effective at
the macro scale is to combine flexible electrodes with a geometry
that uses shear forces to provide adhesion. To measure the
effectiveness of our latch we incorporated it into a 28cm x 28cm
x 28cm modular robot. The result is a latch which requires almost
zero static power and yet can hold over 0.6N/cm2 of latch area.},
keywords = {Actuation, Adhesion, Power},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-msreport07.pdf},
}
|
|
Movement Primitives for an Orthogonal Prismatic Closed-Lattice-Constrained Self-Reconfiguring Module | pdf bib | |
Michael Philetus Weller, Mustafa Emre Karagozler, Brian Kirby, Jason D. Campbell, and Seth Copen Goldstein.
In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07,
October, 2007.
|
| @inproceedings{weller-iros07,
author = {Weller, Michael Philetus and Karagozler, Mustafa Emre and
Kirby, Brian and Campbell, Jason D. and Goldstein, Seth Copen},
title = {Movement Primitives for an Orthogonal Prismatic
Closed-Lattice-Constrained Self-Reconfiguring Module},
booktitle = {Workshop on Self-Reconfiguring Modular Robotics at the
IEEE International Conference on Intelligent Robots and Systems
(IROS) '07},
venue = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at IROS},
year = {2007},
month = {October},
keywords = {Adhesion, Robotics, Planning},
abstract = {We describe a new set of prismatic movement primitives
for cubic modular robots. Our approach appears more practical
than previous metamodule-based approaches. We also describe
recent hardware developments in our cubic robot modules that have
sufficient stiffness and actuator strength so that when they work
together they can realize, in earth's gravity, all of the motion
primitives we describe here.},
url = {http://www.cs.cmu.edu/~claytronics/papers/weller-iros07.pdf},
}
|
Angled Fiber Array |
|
Adhesion and Anisotropic Friction Enhancements of Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips | pdf bib | |
M.P. Murphy, Burak Aksak, and Metin Sitti.
Journal of Adhesion Science and Technology,
2007.
|
| @article{aksak-jast07,
author = {Murphy, M.P. and Aksak, Burak and Sitti, Metin},
title = {Adhesion and Anisotropic Friction Enhancements of Angled
Heterogeneous Micro-Fiber Arrays with Spherical and Spatula
Tips},
journal = {Journal of Adhesion Science and Technology},
venue = {Journal of Adhesion Science and Technology},
year = {2007},
institution = {NanoRobotics Laboratory, Department of Mechanical
Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania
15213},
abstract = {Angled polyurethane fiber arrays are modified by adding
soft spherical and spatula shaped tips by dipping. These fibers
are characterized for adhesion and friction and compared with
unmodified fibers and flat material samples. Sphere and spatula
tip fiber samples demonstrate increased adhesion, with 10 and 23
times the maximum adhesion of the unmodified fiber sample,
respectively. The sphere and spatula tip fiber samples also show
increased friction, with 1.6 and 4.7 times the maximum friction
of the unmodified fiber sample, respectively. Simultaneous
friction and adhesion is observed in a synthetic dry angled
fibrillar adhesive sample (spatula tip fiber sample) for the
first time. The direction dependent friction of angled fibers is
investigated and observed. The adhesion and friction results
reported in this paper suggest that fibers with negligible
adhesion can be modified to exhibit significant adhesion and
friction enhancement by the proposed fiber tip modifications.},
keywords = {Gecko, Adhesion, Angled Fiber Array, Friction, Dry
Adhesive, Bioinspired adhesive},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-jast07.pdf},
}
|
Applications Of Claytronics |
|
A 3D Fax Machine based on Claytronics | pdf bib | |
Padmanabhan Pillai, Jason D. Campbell, Gautam Kedia, Shishir Moudgal, and Kaushik Sheth.
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06),
October, 2006.
|
| @inproceedings{pillai-iros06,
author = {Pillai, Padmanabhan and Campbell, Jason D. and Kedia,
Gautam and Moudgal, Shishir and Sheth, Kaushik},
title = {A 3D Fax Machine based on Claytronics},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots
and Systems {(IROS '06)}},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
month = {October},
year = {2006},
keywords = {Applications of Claytronics},
url = {http://www.cs.cmu.edu/~claytronics/papers/pillai-iros06.pdf},
abstract = {This paper presents a novel application of modular
robotic technology. Many researchers expect manufacturing
technology will allow robot modules to be built at smaller and
smaller scales, but movement and actuation are increasingly
difficult as dimensions shrink. We describe an application --- a
3D fax machine --- which exploits inter-module communication and
computation without requiring self-reconfiguration. As a result,
this application may be feasible sooner than applications which
depend upon modules being able to move themselves. In our new
approach to 3D faxing, a large number of sub-millimeter robot
modules form an intelligent ``clay'' which can be reshaped via
the external application of mechanical forces. This clay can act
as a novel input device, using intermodule localization
techniques to acquire the shape of a 3D object by casting. We
describe software for such digital clay. We also describe how,
when equipped with simple inter-module latches, such clay can be
used as a 3D output device. Finally, we evaluate results from
simulations which test how well our approach can replicate
particular objects.},
}
|
|
Ultralight Modular Robotic Building blocks for the Rapid Deployment of Planetary Outposts | pdf bib | |
Mustafa Emre Karagozler, Brian Kirby, W.J. Lee, Eugene Marinelli, T.C. Ng, Michael Philetus Weller, and Seth Copen Goldstein.
In Revolutionary Aerospace Systems Concepts Academic Linkage (RASC-AL) Forum 2006,
May, 2006.
|
| @inproceedings{karagozler-rascal06,
title = {Ultralight Modular Robotic Building blocks for the Rapid
Deployment of Planetary Outposts},
booktitle = {Revolutionary Aerospace Systems Concepts Academic
Linkage {(RASC-AL)} Forum 2006},
venue = {Revolutionary Aerospace Systems Concepts Academic Linkage
{(RASC-AL)} Forum},
author = {Karagozler, Mustafa Emre and Kirby, Brian and Lee, W.J.
and Marinelli, Eugene and Ng, T.C. and Weller, Michael Philetus
and Goldstein, Seth Copen},
year = {2006},
month = {May},
address = {Cape Canaveral, FL},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-rascal06.pdf},
keywords = {Applications of Claytronics, Robotics},
}
|
|
2029 The 3-D Fax Machine Brings Back the House Call | pdf bib | |
Seth Copen Goldstein.
In Headline from the Future, Popular Science Magazine,
pages 34, March, 2005.
|
| @misc{goldstein-popsci05,
title = {2029 The 3-D Fax Machine Brings Back the House Call},
howpublished = {Headline from the Future, Popular Science Magazine},
venue = {Popular Science Magazine},
author = {Goldstein, Seth Copen},
year = {2005},
url = {http://www.cs.cmu.edu/~claytronics/papers/goldstein-popsci05.pdf},
month = {March},
pages = {34},
keywords = {Applications of Claytronics},
}
|
Bioinspired Adhesive |
|
Adhesion and Anisotropic Friction Enhancements of Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips | pdf bib | |
M.P. Murphy, Burak Aksak, and Metin Sitti.
Journal of Adhesion Science and Technology,
2007.
|
| @article{aksak-jast07,
author = {Murphy, M.P. and Aksak, Burak and Sitti, Metin},
title = {Adhesion and Anisotropic Friction Enhancements of Angled
Heterogeneous Micro-Fiber Arrays with Spherical and Spatula
Tips},
journal = {Journal of Adhesion Science and Technology},
venue = {Journal of Adhesion Science and Technology},
year = {2007},
institution = {NanoRobotics Laboratory, Department of Mechanical
Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania
15213},
abstract = {Angled polyurethane fiber arrays are modified by adding
soft spherical and spatula shaped tips by dipping. These fibers
are characterized for adhesion and friction and compared with
unmodified fibers and flat material samples. Sphere and spatula
tip fiber samples demonstrate increased adhesion, with 10 and 23
times the maximum adhesion of the unmodified fiber sample,
respectively. The sphere and spatula tip fiber samples also show
increased friction, with 1.6 and 4.7 times the maximum friction
of the unmodified fiber sample, respectively. Simultaneous
friction and adhesion is observed in a synthetic dry angled
fibrillar adhesive sample (spatula tip fiber sample) for the
first time. The direction dependent friction of angled fibers is
investigated and observed. The adhesion and friction results
reported in this paper suggest that fibers with negligible
adhesion can be modified to exhibit significant adhesion and
friction enhancement by the proposed fiber tip modifications.},
keywords = {Gecko, Adhesion, Angled Fiber Array, Friction, Dry
Adhesive, Bioinspired adhesive},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-jast07.pdf},
}
|
Biologically Inspired |
|
Adhesion of Biologically Inspired Vertical and Angled Polymer Microfiber Arrays | pdf bib | |
Burak Aksak, M.P. Murphy, and Metin Sitti.
Langmuir,
23(6):3322–32,February, 2007.
|
| @article{aksak-langmuir2007,
author = {Aksak, Burak and Murphy, M.P. and Sitti, Metin},
title = {Adhesion of Biologically Inspired Vertical and Angled
Polymer Microfiber Arrays},
journal = {Langmuir},
venue = {Langmuir},
year = {2007},
month = {February},
volume = {23},
pages = {3322--32},
number = {6},
institution = {NanoRobotics Laboratory, Department of Mechanical
Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania
15213},
issn = {0743-7463},
keywords = {Adhesion, Biologically Inspired},
abstract = {This paper proposes an approximate adhesion model for
fibrillar adhesives for developing a fibrillar adhesive design
methodology and compares numerical simulation adhesion results
with macroscale adhesion data from polymer microfiber array
experiments. A technique for fabricating microfibers with a
controlled angle is described for the first time. Polyurethane
microfibers with different hardnesses, angles, and aspect ratios
are fabricated using optical lithography and polymer micromolding
techniques and tested with a custom tensile adhesion measurement
setup. Macroscale adhesion and overall work of adhesion of the
microfiber arrays are measured and compared with the models to
observe the effect of fiber geometry and preload. The adhesion
strength and work of adhesion behavior of short and long vertical
and long angled fiber arrays have similar trends with the
numerical simulations. A scheme is also proposed to aid in
optimized fiber adhesive design.},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-langmuir2007.pdf},
}
|
|
Locomotion of Miniature Catom Chains: Scale Effects on Gait and Velocity | bib | |
David Johan Christensen and Jason D. Campbell.
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '07),
pages 2254–2260, April, 2007.
|
| @inproceedings{Christensen-icra07,
author = {Christensen, David Johan and Campbell, Jason D.},
title = {Locomotion of Miniature Catom Chains: Scale Effects on Gait
and Velocity},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation ({ICRA '07})},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
month = {April},
pages = {2254-2260},
keywords = {Biologically Inspired, Actuation, Controlling
Ensembles},
year = {2007},
}
|
Blinky Blocks |
|
Blinky blocks: a physical ensemble programming platform | bib | |
Brian T. Kirby, Michael Ashley-Rollman, and Seth Copen Goldstein.
In CHI '11 Extended Abstracts on Human Factors in Computing Systems,
pages 1111–1116, 2011.
|
| @inproceedings{Kirby-chi11,
author = {Kirby, Brian T. and Ashley-Rollman, Michael and Goldstein,
Seth Copen},
title = {Blinky blocks: a physical ensemble programming platform},
booktitle = {CHI '11 Extended Abstracts on Human Factors in
Computing Systems},
series = {CHI EA '11},
year = {2011},
isbn = {978-1-4503-0268-5},
pages = {1111--1116},
doi = {10.1145/1979742.1979712},
publisher = {ACM},
address = {New York, NY, USA},
keywords = {Blinky blocks},
}
|
Carbon Nanofibers |
|
Friction of Partially Embedded Vertically Aligned Carbon Nanofibers Inside Elastomers | pdf bib | |
Burak Aksak, Alan Cassell, Jun Li, Meyya Meyyappan, Phillip Callen, and Metin Sitti.
Applied Physics Letters,
91,2007.
|
| @article{aksak-apl07,
author = {Aksak, Burak and Cassell, Alan and Li, Jun and Meyyappan,
Meyya and Callen, Phillip and Sitti, Metin},
title = {Friction of Partially Embedded Vertically Aligned Carbon
Nanofibers Inside Elastomers},
journal = {Applied Physics Letters},
venue = {Applied Physics Letters},
year = {2007},
volume = {91},
abstract = {Vertically aligned carbon nanofibers partially embedded
inside polyurethane (eVACNFs) is proposed as a robust high
friction fibrillar material with a compliant backing. Carbon
nanofibers with 50-150 $nm$ in diameter and 20-30 $\mu$m in
length are vertically grown on silicon and transferred completely
inside an elastomer by vacuum molding. Using time controlled and
selective oxygen plasma etching, fibers are partially released up
to 5 $\mu$m length. Macroscale friction experiments show that
eVACNFs exhibit reproducible effective friction coefficients up
to 1. Besides high friction, the proposed fabrication method
improves fiber-substrate bond strength, and enables uniform
height nanofibers with a compliant backing.},
keywords = {Nanofiber friction, compliant nanostructures, carbon
nanofibers},
originallink = {http://link.aip.org/link/?apl/91/061906},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-apl07.pdf},
}
|
Claytronics |
|
Distributed Intelligent MEMS: Progresses and Perspectives | bib | |
Julien Bourgeois and Seth Copen Goldstein.
IEEE Systems Journal,
*(*):***–***,2014.
|
| @article{bourgeois-IEEESystems14,
author = {Bourgeois, Julien and Goldstein, Seth Copen},
title = {Distributed Intelligent {MEMS}: Progresses and
Perspectives},
journal = {IEEE Systems Journal},
volume = {*},
number = {*},
pages = {***--***},
doi = {*},
year = {2014},
keywords = {Claytronics},
}
|
|
Distributed Intelligent MEMS: Progresses and Perspectives | bib | |
Julien Bourgeois and Seth Copen Goldstein.
In ICT Innovations 2011,
volume 150, pages 15–25,2012.
|
| @inproceedings{bourgeois-ict11,
author = {Bourgeois, Julien and Goldstein, Seth Copen},
title = {Distributed Intelligent {MEMS}: Progresses and
Perspectives},
booktitle = {ICT Innovations 2011},
pages = {15--25},
series = {Advances in Intelligent and Soft Computing},
volume = {150},
isbn = {978-3-642-28663-6},
editor = {Kocarev, Ljupco},
address = {Ohrid, Macedonia},
publisher = {Springer},
year = {2012},
note = {Keynote talk at the ICT Innovations 2011 conference},
keywords = {Claytronics},
}
|
|
Programming Modular Robots with Locally Distributed Predicates | pdf bib | |
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '08,
2008.
|
| @inproceedings{derosa-icra08,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation {ICRA '08}},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
keywords = {Claytronics, Modular Robotics, Programming, LDP},
title = {Programming Modular Robots with Locally Distributed
Predicates},
year = {2008},
abstract = {We present a high-level language for programming modular
robotic systems, based on locally distributed predicates (LDP),
which are distributed conditions that hold for a connected
subensemble of the robotic system. An LDP program is a collection
of LDPs with associated actions which are triggered on any
subensemble that matches the predicate. The result is a reactive
programming language which efficiently and concisely supports
ensemble-level programming. We demonstrate the utility of LDP by
implementing three common, but diverse, modular robotic tasks.},
url = {http://www.cs.cmu.edu/~claytronics/papers/derosa-icra08.pdf},
}
|
Claytronics Overview |
|
Programmable Matter | pdf bib | |
Seth Copen Goldstein, Jason D. Campbell, and Todd C. Mowry.
IEEE Computer,
38(6):99–101,June, 2005.
|
| @article{goldstein-computer05,
author = {Goldstein, Seth Copen and Campbell, Jason D. and Mowry,
Todd C.},
title = {Programmable Matter},
journal = {IEEE Computer},
venue = {IEEE Computer},
volume = {38},
number = {6},
pages = {99--101},
year = {2005},
month = {June},
keywords = {Claytronics Overview},
url = {http://www.cs.cmu.edu/~claytronics/papers/goldstein-computer05.pdf},
}
|
|
Claytronics: An Instance of Programmable Matter | pdf bib | |
Seth Copen Goldstein and Todd C. Mowry.
In Wild and Crazy Ideas Session of ASPLOS,
October, 2004.
|
| @inproceedings{goldstein-waci04,
author = {Goldstein, Seth Copen and Mowry, Todd C.},
title = {Claytronics: An Instance of Programmable Matter},
booktitle = {Wild and Crazy Ideas Session of ASPLOS},
venue = {Wild and Crazy Ideas Session of ASPLOS},
year = {2004},
month = {October},
address = {Boston, MA},
abstract = {Programmable matter refers to a technology that will
allow one to control and manipulate three-dimensional physical
artifacts (similar to how we already control and manipulate
two-dimensional images with computer graphics). In other words,
programmable matter will allow us to take a (big) step beyond
virtual reality, to synthetic reality, an environment in which
all the objects in a user's environment (including the ones
inserted by the computer) are physically realized. Note that the
idea is not to transport objects nor is it to recreate an objects
chemical composition, but rather to create a physical artifact
that will mimic the shape, movement, visual appearance, sound,
and tactile qualities of the original object.},
keywords = {Claytronics Overview},
url = {http://www.cs.cmu.edu/~claytronics/papers/goldstein-waci04.pdf},
}
|
Compliant Nanostructures |
|
Friction of Partially Embedded Vertically Aligned Carbon Nanofibers Inside Elastomers | pdf bib | |
Burak Aksak, Alan Cassell, Jun Li, Meyya Meyyappan, Phillip Callen, and Metin Sitti.
Applied Physics Letters,
91,2007.
|
| @article{aksak-apl07,
author = {Aksak, Burak and Cassell, Alan and Li, Jun and Meyyappan,
Meyya and Callen, Phillip and Sitti, Metin},
title = {Friction of Partially Embedded Vertically Aligned Carbon
Nanofibers Inside Elastomers},
journal = {Applied Physics Letters},
venue = {Applied Physics Letters},
year = {2007},
volume = {91},
abstract = {Vertically aligned carbon nanofibers partially embedded
inside polyurethane (eVACNFs) is proposed as a robust high
friction fibrillar material with a compliant backing. Carbon
nanofibers with 50-150 $nm$ in diameter and 20-30 $\mu$m in
length are vertically grown on silicon and transferred completely
inside an elastomer by vacuum molding. Using time controlled and
selective oxygen plasma etching, fibers are partially released up
to 5 $\mu$m length. Macroscale friction experiments show that
eVACNFs exhibit reproducible effective friction coefficients up
to 1. Besides high friction, the proposed fabrication method
improves fiber-substrate bond strength, and enables uniform
height nanofibers with a compliant backing.},
keywords = {Nanofiber friction, compliant nanostructures, carbon
nanofibers},
originallink = {http://link.aip.org/link/?apl/91/061906},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-apl07.pdf},
}
|
Controlling Ensembles |
|
Collective Actuation | bib | |
Jason D. Campbell and Padmanabhan Pillai.
International Journal of Robotics Research,
27(3-4):299–314,2008.
|
| @article{campbell-ijrr-srmr,
author = {Campbell, Jason D. and Pillai, Padmanabhan},
title = {Collective Actuation},
journal = {International Journal of Robotics Research},
volume = {27},
number = {3-4},
year = {2008},
pages = {299-314},
keywords = {Actuation, Controlling Ensembles},
abstract = {Modular robot designers confront an inherent tradeoff
between size and power: Smaller, more numerous modules increase
the adaptability of a given volume or mass of robot---allowing
the aggregate robot to take on a wider variety of
configurations---but do so at a cost of reducing the power and
complexity budget of each module. Fewer, larger modules can
incorporate more powerful actuators and stronger hinges but at a
cost of overspecializing the resulting robot in favor of
corresponding uses. In the paper we describe a technique for
coordinating the efforts of many tiny modules to achieve forces
and movements larger than those possible for individual modules.
In a broad sense, the question of actuator capacity and range
thus may become one of software coding and ensemble topology as
well as of hardware design. An important aspect of this technique
is its ability to bend complex and large-scale structures and to
realize the equivalent of large scale joints. Although our
results do not suggest that modular robots will replace high
power purpose-built robots, they do offer an increase in the
plausible scalability of modular robot self-reconfiguration and
facilitate a corresponding increase in adaptability.},
}
|
|
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems | pdf bib | |
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein.
In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08,
September, 2008.
|
| @inproceedings{dewey-iros08,
author = {Dewey, Daniel and Srinivasa, Siddhartha S. and
Ashley-Rollman, Michael P. and De~Rosa, Michael and Pillai,
Padmanabhan and Mowry, Todd C. and Campbell, Jason D. and
Goldstein, Seth Copen},
title = {Generalizing Metamodules to Simplify Planning in Modular
Robotic Systems},
booktitle = {Proceedings of IEEE/RSJ 2008 International Conference
on Intelligent Robots and Systems {IROS '08}},
year = {2008},
address = {Nice, France},
month = {September},
abstract = {In this paper we develop a theory of metamodules and an
associated distributed asynchronous planner which generalizes
previous work on metamodules for lattice-based modular robotic
systems. All extant modular robotic systems have some form of
non-holonomic motion constraints. This has prompted many
researchers to look to metamodules, i.e., groups of modules that
act as a unit, as a way to reduce motion constraints and the
complexity of planning. However, previous metamodule designs have
been specific to a particular modular robot. By analyzing the
constraints found in modular robotic systems we develop a
holonomic metamodule which has two important properties: (1) it
can be used as the basic unit of an efficient planner and (2) it
can be instantiated by a wide variety of different underlying
modular robots, e.g., modular robot arms, expanding cubes,
hex-packed spheres, etc. Using a series of transformations we
show that our practical metamodule system has a provably complete
planner. Finally, our approach allows the task of shape
transformation to be separated into a planning task and a
resource allocation task. We implement our planner for two
different metamodule systems and show that the time to completion
scales linearly with the diameter of the ensemble.},
url = {http://www.cs.cmu.edu/~claytronics/papers/dewey-iros08.pdf},
keywords = {Meld, Planning, Multi-Robot Formations, Controlling
Ensembles, Robotics},
}
|
|
Locomotion of Miniature Catom Chains: Scale Effects on Gait and Velocity | bib | |
David Johan Christensen and Jason D. Campbell.
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '07),
pages 2254–2260, April, 2007.
|
| @inproceedings{Christensen-icra07,
author = {Christensen, David Johan and Campbell, Jason D.},
title = {Locomotion of Miniature Catom Chains: Scale Effects on Gait
and Velocity},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation ({ICRA '07})},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
month = {April},
pages = {2254-2260},
keywords = {Biologically Inspired, Actuation, Controlling
Ensembles},
year = {2007},
}
|
|
Collective Actuation | pdf bib | |
Jason D. Campbell and Padmanabhan Pillai.
In RSS 2006 Workshop on Self-Reconfigurable Modular Robots,
August, 2006.
|
| |
|
Hierarchical Motion Planning for Self-reconfigurable Modular Robots | pdf bib | |
Preethi Srinivas Bhat, James Kuffner, Seth Copen Goldstein, and Siddhartha S. Srinivasa.
In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
October, 2006.
|
| @inproceedings{bhat06,
author = {Bhat, Preethi Srinivas and Kuffner, James and Goldstein,
Seth Copen and Srinivasa, Siddhartha S.},
title = {Hierarchical Motion Planning for Self-reconfigurable
Modular Robots},
booktitle = {2006 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS)},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
year = {2006},
month = {October},
keywords = {Planning, Controlling Ensembles, Hierarchical
Algorithms},
url = {http://www.cs.cmu.edu/~claytronics/papers/bhat06.pdf},
abstract = {Motion planning for a self-reconfigurable robot involves
coordinating the movement and connectivity of each of its
homogeneous modules. Reconfiguration occurs when the shape of the
robot changes from some initial configuration to a target
configuration. Finding an optimal solution to reconfiguration
problems involves searching the space of possible robot
configurations. As this space grows exponentially with the number
of modules, optimal planning becomes intractable. We propose a
hierarchical planning approach that computes heuristic global
reconfiguration strategies efficiently. Our approach consists of
a base planner that computes an optimal solution for a few
modules and a hierarchical planner that calls this base planner
or reuses pre-computed plans at each level of the hierarchy to
ultimately compute a global suboptimal solution. We present
results from a prototype implementation of the method that
efficiently plans for self-reconfigurable robots with several
thousand modules.We also discuss tradeoffs and performance issues
including scalability, heuristics and plan optimality.},
}
|
|
Scalable Shape Sculpting via Hole Motion: Motion Planning in Lattice-Constrained Module Robots | pdf bib | |
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06),
May, 2006.
|
| @inproceedings{derosa-icra06,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
title = {Scalable Shape Sculpting via Hole Motion: Motion Planning
in Lattice-Constrained Module Robots},
month = {May},
booktitle = {Proceedings of the 2006 {IEEE} International Conference
on Robotics and Automation (ICRA '06)},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
year = {2006},
keywords = {Planning, Controlling Ensembles, Stochastic Algorithms},
url = {http://www.cs.cmu.edu/~claytronics/papers/derosa-icra06.pdf},
abstract = {We describe a novel shape formation algorithm for
ensembles of 2-dimensional lattice-arrayed modular robots, based
on the manipulation of regularly shaped voids within the lattice
(``holes''). The algorithm is massively parallel and fully
distributed. Constructing a goal shape requires time proportional
only to the complexity of the desired target geometry.
Construction of the shape by the modules requires no global
communication nor broadcast floods after distribution of the
target shape. Results in simulation show 97.3\% shape compliance
in ensembles of approximately 60,000 modules, and we believe that
the algorithm will generalize to 3D and scale to handle millions
of modules.},
}
|
Controlling Nodes |
|
Control Strategies and Design Guidelines for Planar Latch-less Metamorphic RobotsBased on Analysis of Dynamics | pdf bib | |
Ashish Deshpande, Siddhartha S. Srinivasa, and Padmanabhan Pillai.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
October, 2007.
|
| @inproceedings{ashish-iros07,
author = {Deshpande, Ashish and Srinivasa, Siddhartha S. and Pillai,
Padmanabhan},
title = {Control Strategies and Design Guidelines for Planar
Latch-less Metamorphic RobotsBased on Analysis of Dynamics},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
year = {2007},
month = {October},
abstract = {Modular robotic systems with no fixed mechanical
contacts are have the ability to adopt and reconfigure very
rapidly, but are very difficult to control dynamically. Moving
module solely with electro-magnetic or -static forces can lead to
unwanted slipping or even loss of contact. This paper presents a
strategy to design controller for such modules based on the
limits derived by combining the contact constraints and the
actuator saturation. We demonstrate the design of a simple but
effective controller for two module motions. We also present
guidelines for the design of the modules based on the controller
limitations.},
keywords = {Controlling Nodes},
url = {http://www.cs.cmu.edu/~claytronics/papers/ashish-iros07.pdf},
}
|
Debugging |
|
Distributed Watchpoints: Debugging Large Modular Robotic Systems | pdf bib | |
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
International Journal of Robotics Research,
27(3),March, 2008.
Also appeared as Distributed Watchpoints: Debugging Large Multi-Robot Systems, (icra07).
|
| @article{mderosa-ijrr-2008,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
journal = {International Journal of Robotics Research},
keywords = {Debugging, Distributed Systems},
month = {March},
note = {Special Issue on Modular Robotics},
url = {http://www.cs.cmu.edu/~claytronics/papers/mderosa-ijrr-2008.pdf},
venue = {International Journal of Robotics Research},
number = {3},
title = {Distributed Watchpoints: Debugging Large Modular Robotic
Systems},
abstract = {Distributed systems frequently exhibit properties of
interest which span multiple entities. These properties cannot
easily be detected from any single entity, but can be readily be
detected by combining the knowledge of multiple entities. Testing
for distributed properties is especially important in debugging
or verifying software for modular robots. We have developed a
technique we call distributed watchpoint triggers which can
efficiently recognize distributed conditions. Our watchpoint
description language can handle a variety of temporal, spatial,
and logical properties spanning multiple robots. This paper
presents the specification language, describes the distributed
online mechanism for detecting distributed conditions in a
running system, and evaluates the performance of our
implementation.},
volume = {27},
also = {Distributed Watchpoints: Debugging Large Multi-Robot
Systems, (icra07)},
year = {2008},
}
|
|
Distributed Watchpoints: Debugging Large Multi-Robot Systems | pdf bib | |
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, Padmanabhan Pillai, and Todd C. Mowry.
In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '07,
April, 2007.
|
| @inproceedings{derosa-icra07,
abstract = {Tightly-coupled multi-agent systems such as modular
robots frequently exhibit properties of interest that span
multiple modules. These properties cannot easily be detected from
any single module, though they might readily be detected by
combining the knowledge of multiple modules. Testing for
distributed conditions is especially important in debugging or
verifying the correctness of software for modular robots. We have
developed a technique we call distributed watchpoint triggers
which can efficiently recognize such distributed conditions. Our
watchpoint description language can handle a variety of temporal,
spatial, and logical properties spanning multiple robots. This
paper presents that language, describes our fully-distributed,
online mechanism for detecting distributed conditions in a
running system, and evaluates the performance of our
implementation. We found that the performance of the system is
highly dependent on the program being debugged, scales linearly
with ensemble size, and is small enough to make the system
practical in all but the worst case scenarios.},
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan and Mowry, Todd
C.},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation {ICRA '07}},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
title = {Distributed Watchpoints: Debugging Large Multi-Robot
Systems},
year = {2007},
month = {April},
keywords = {Debugging, Distributed Algorithms},
url = {http://www.cs.cmu.edu/~claytronics/papers/derosa-icra07.pdf},
}
|
|
Integrated Debugging of Large Modular Robot Ensembles | pdf bib | |
Benjamin D. Rister, Jason D. Campbell, Padmanabhan Pillai, and Todd C. Mowry.
In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '07,
April, 2007.
|
| @inproceedings{rister-icra07,
author = {Rister, Benjamin D. and Campbell, Jason D. and Pillai,
Padmanabhan and Mowry, Todd C.},
title = {Integrated Debugging of Large Modular Robot Ensembles},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation {ICRA '07}},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
keywords = {Debugging, Distributed Systems},
month = {April},
abstract = {Creatively misquoting Thomas Hobbes, the process of
software debugging is nasty, brutish, and all too long. This
holds all the more true in robotics, which frequently involves
concurrency, extensive nondeterminisism, event-driven components,
complex state machines, and difficult platform limitations.
Inspired by the challenges we have encountered while attempting
to debug software on simulated ensembles of tens of thousands of
modular robots, we have developed a new debugging tool
particularly suited to the characteristics of highly parallel,
event- and state-driven robotics software. Our state capture and
introspection system also provides data that may be used in
higher-level debugging tools as well. We report on the design of
this promising debugging system, and on our experiences with it
so far.},
year = {2007},
url = {http://www.cs.cmu.edu/~claytronics/papers/rister-icra07.pdf},
}
|
|
Distributed Watchpoints: Debugging Very Large Ensembles of Robots | pdf bib talk | |
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
In Robotics: Science and Systems Workshop on Self-Reconfigurable Modular Robots,
August, 2006.
|
| |
Demos |
|
Demo Abstract: Sensing and Reproducing the Shapes of 3D Objects Using Claytronics | bib | |
Padmanabhan Pillai and Jason D. Campbell.
In Proceedings of the 4rd international conference on Embedded networked sensor systems (SenSys),
October, 2006.
|
| @inproceedings{aksak-sensys06,
author = {Pillai, Padmanabhan and Campbell, Jason D.},
title = {Demo Abstract: Sensing and Reproducing the Shapes of 3D
Objects Using Claytronics},
booktitle = {Proceedings of the 4rd international conference on
Embedded networked sensor systems (SenSys)},
venue = {International conference on Embedded networked sensor
systems (SenSys)},
year = {2006},
month = {October},
keywords = {Demos},
}
|
|
Demo Abstract: Claytronics---highly scalable communications, sensing, and actuation networks. | pdf bib | |
Burak Aksak, Preethi Srinivas Bhat, Jason D. Campbell, Michael De Rosa, Stanislav Funiak, Phillip B. Gibbons, Seth Copen Goldstein, Carlos Guestrin, Ashish Gupta, Casey Helfrich, James F. Hoburg, Brian Kirby, James Kuffner, Peter Lee, Todd C. Mowry, Padmanabhan Pillai, Ramprasad Ravichandran, Benjamin D. Rister, Srinivasan Seshan, Metin Sitti, and Haifeng Yu.
In Proceedings of the 3rd international conference on Embedded networked sensor systems (SenSys),
pages 299, 2005.
|
| @inproceedings{aksak-sensys05,
author = {Aksak, Burak and Bhat, Preethi Srinivas and Campbell,
Jason D. and De~Rosa, Michael and Funiak, Stanislav and Gibbons,
Phillip B. and Goldstein, Seth Copen and Guestrin, Carlos and
Gupta, Ashish and Helfrich, Casey and Hoburg, James F. and Kirby,
Brian and Kuffner, James and Lee, Peter and Mowry, Todd C. and
Pillai, Padmanabhan and Ravichandran, Ramprasad and Rister,
Benjamin D. and Seshan, Srinivasan and Sitti, Metin and Yu,
Haifeng},
title = {Demo Abstract: Claytronics---highly scalable
communications, sensing, and actuation networks.},
booktitle = {Proceedings of the 3rd international conference on
Embedded networked sensor systems (SenSys)},
venue = {International conference on Embedded networked sensor
systems (SenSys)},
year = {2005},
pages = {299},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-sensys05.pdf},
doi = {http://doi.acm.org/10.1145/1098918.1098964},
keywords = {Demos},
abstract = {We propose a demonstration of extremely scalable modular
robotics algorithms developed as part of the Claytronics Project
(http://www-2.cs.cmu.edu/~claytronics/), as well as a
demonstration of proof-of-concept prototypes. Our effort
envisions multi-million-module robot ensembles able to morph into
three-dimensional scenes, eventually with sufficient fidelity so
as to convince a human observer the scenes are real. Although
this work is potentially revolutionary in the sense that it holds
out the possibility of radically altering the relationship
between computation, humans, and the physical world, many of the
research questions involved are similar in flavor to more
mainstream systems research, albeit larger in scale. For
instance, as in sensor networks, each robot will incorporate
sensing, computation, and communications components. However,
unlike most sensor networks each robot will also include
mechanisms for actuation and motion. Many of the key challenges
in this project involve coordination and communication of sensing
and actuation across such large ensembles of independent units.},
}
|
Distributed Algorithms |
|
Distributed Watchpoints: Debugging Large Multi-Robot Systems | pdf bib | |
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, Padmanabhan Pillai, and Todd C. Mowry.
In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '07,
April, 2007.
|
| @inproceedings{derosa-icra07,
abstract = {Tightly-coupled multi-agent systems such as modular
robots frequently exhibit properties of interest that span
multiple modules. These properties cannot easily be detected from
any single module, though they might readily be detected by
combining the knowledge of multiple modules. Testing for
distributed conditions is especially important in debugging or
verifying the correctness of software for modular robots. We have
developed a technique we call distributed watchpoint triggers
which can efficiently recognize such distributed conditions. Our
watchpoint description language can handle a variety of temporal,
spatial, and logical properties spanning multiple robots. This
paper presents that language, describes our fully-distributed,
online mechanism for detecting distributed conditions in a
running system, and evaluates the performance of our
implementation. We found that the performance of the system is
highly dependent on the program being debugged, scales linearly
with ensemble size, and is small enough to make the system
practical in all but the worst case scenarios.},
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan and Mowry, Todd
C.},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation {ICRA '07}},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
title = {Distributed Watchpoints: Debugging Large Multi-Robot
Systems},
year = {2007},
month = {April},
keywords = {Debugging, Distributed Algorithms},
url = {http://www.cs.cmu.edu/~claytronics/papers/derosa-icra07.pdf},
}
|
|
Internal Localization of Modular Robot Ensembles | pdf bib | |
Stanislav Funiak, Padmanabhan Pillai, Jason D. Campbell, and Seth Copen Goldstein.
In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07,
October, 2007.
|
| @inproceedings{funiak-iros07,
author = {Funiak, Stanislav and Pillai, Padmanabhan and Campbell,
Jason D. and Goldstein, Seth Copen},
title = {Internal Localization of Modular Robot Ensembles},
booktitle = {Workshop on Self-Reconfiguring Modular Robotics at the
IEEE International Conference on Intelligent Robots and Systems
(IROS) '07},
venue = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at IROS},
year = {2007},
month = {October},
abstract = {The determination of the relative position and pose of
every robot in a modular robotic ensemble is a necessary
preliminary step for most modular robotic tasks. Localization is
particularly important when the modules make local noisy
observations and are not significantly constrained by inter-robot
latches. In this paper, we propose a robust hierarchical approach
to the {\em internal localization} problem that uses normalized
cut to identify subproblems with small localization error. A key
component of our solution is a simple method to reduce the cost
of normalized cut computations. The result is a robust algorithm
that scales to large, non-homogeneous ensembles. We evaluate our
algorithm in simulation on ensembles of up to 10,000 modules,
demonstrating substantial improvements over prior work.},
keywords = {Probabilistic Inference, Sensing, Localization,
Distributed Algorithms},
url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-iros07.pdf},
}
|
|
Distributed Inference in Dynamical Systems | pdf bib | |
Stanislav Funiak, Carlos Guestrin, Mark Paskin, and Rahul Sukthankar.
In Advances in Neural Information Processing Systems 19,
pages 433–440, December, 2006.
|
| @inproceedings{funiak-nips06,
title = {Distributed Inference in Dynamical Systems},
author = {Funiak, Stanislav and Guestrin, Carlos and Paskin, Mark
and Sukthankar, Rahul},
booktitle = {Advances in Neural Information Processing Systems 19},
venue = {Advances in Neural Information Processing Systems},
editor = {B. Scholkopf and J. Platt and T. Hoffman},
publisher = {MIT Press},
address = {Cambridge, MA},
pages = {433--440},
year = {2006},
month = {December},
url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-nips06.pdf},
keywords = {Probabilistic Inference, Sensing, Distributed
Algorithms, Graphical Models},
abstract = {We present a robust distributed algorithm for
approximate probabilistic inference in dynamical systems, such as
sensor networks and teams of mobile robots. Using assumed density
filtering, the network nodes maintain a tractable representation
of the belief state in a distributed fashion. At each time step,
the nodes coordinate to condition this distribution on the
observations made throughout the network, and to advance this
estimate to the next time step. In addition, we identify a
significant challenge for probabilistic inference in dynamical
systems: message losses or network partitions can cause nodes to
have inconsistent beliefs about the current state of the system.
We address this problem by developing distributed algorithms that
guarantee that nodes will reach an informative consistent
distribution when communication is re-established. We present a
suite of experimental results on real-world sensor data for two
real sensor network deployments: one with 25 cameras and another
with 54 temperature sensors.},
}
|
|
Distributed Localization of Networked Cameras | pdf bib | |
Stanislav Funiak, Carlos Guestrin, Rahul Sukthankar, and Mark Paskin.
In Fifth International Conference on Information Processing in Sensor Networks (IPSN'06),
pages 34–42, April, 2006.
|
| @inproceedings{funiak-ipsn06,
author = {Funiak, Stanislav and Guestrin, Carlos and Sukthankar,
Rahul and Paskin, Mark},
title = {Distributed Localization of Networked Cameras},
booktitle = {Fifth International Conference on Information
Processing in Sensor Networks (IPSN'06)},
venue = {International Conference on Information Processing in
Sensor Networks (IPSN'06)},
month = {April},
pages = {34--42},
year = {2006},
keywords = {Probabilistic Inference, Sensing, Distributed
Algorithms, Graphical Models, Localization},
url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-ipsn06.pdf},
abstract = {Camera networks are perhaps the most common type of
sensor network and are deployed in a variety of real-world
applications including surveillance, intelligent environments and
scientific remote monitoring. A key problem in deploying a
network of cameras is calibration, i.e., determining the location
and orientation of each sensor so that observations in an image
can be mapped to locations in the real world. This paper proposes
a fully distributed approach for camera network calibration. The
cameras collaborate to track an object that moves through the
environment and reason probabilistically about which camera poses
are consistent with the observed images. This reasoning employs
sophisticated techniques for handling the difficult
nonlinearities imposed by projective transformations, as well as
the dense correlations that arise between distant cameras. Our
method requires minimal overlap of the cameras' fields of view
and makes very few assumptions about the motion of the object. In
contrast to existing approaches, which are centralized, our
distributed algorithm scales easily to very large camera
networks. We evaluate the system on a real camera network with 25
nodes as well as simulated camera networks of up to 50 cameras
and demonstrate that our approach performs well even when
communication is lossy.},
}
|
Distributed Systems |
|
A Language for Large Ensembles of Independently Executing Nodes | pdf bib | |
Michael P. Ashley-Rollman, Peter Lee, Seth Copen Goldstein, Padmanabhan Pillai, and Jason D. Campbell.
In Proceedings of the International Conference on Logic Programming (ICLP '09),
July, 2009.
|
| @inproceedings{ashley-rollman-iclp09,
author = {Ashley-Rollman, Michael P. and Lee, Peter and Goldstein,
Seth Copen and Pillai, Padmanabhan and Campbell, Jason D.},
title = {A Language for Large Ensembles of Independently Executing
Nodes},
year = {2009},
month = {July},
keywords = {Distributed Systems, Meld, Programming Languages},
url = {http://www.cs.cmu.edu/~claytronics/papers/ashley-rollman-iclp09.pdf},
abstract = {We address how to write programs for distributed
computing systems in which the network topology can change
dynamically. Examples of such systems, which we call {\em
ensembles}, include programmable sensor networks (where the
network topology can change due to failures in the nodes or
links) and modular robotics systems (whose physical configuration
can be rearranged under program control). We extend Meld, a logic
programming language that allows an ensemble to be viewed as a
single computing system. In addition to proving some key
properties of the language, we have also implemented a complete
compiler for Meld. It generates code for TinyOS and for a
Claytronics simulator. We have successfully written correct,
efficient, and complex programs for ensembles containing over one
million nodes.},
booktitle = {Proceedings of the International Conference on Logic
Programming (ICLP '09)},
}
|
|
Distributed Localization of Modular Robot Ensembles | pdf bib | |
Stanislav Funiak, Padmanabhan Pillai, Michael P. Ashley-Rollman, Jason D. Campbell, and Seth Copen Goldstein.
In Proceedings of Robotics: Science and Systems,
June, 2008.
|
| |
|
Distributed Watchpoints: Debugging Large Modular Robotic Systems | pdf bib | |
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
International Journal of Robotics Research,
27(3),March, 2008.
Also appeared as Distributed Watchpoints: Debugging Large Multi-Robot Systems, (icra07).
|
| @article{mderosa-ijrr-2008,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
journal = {International Journal of Robotics Research},
keywords = {Debugging, Distributed Systems},
month = {March},
note = {Special Issue on Modular Robotics},
url = {http://www.cs.cmu.edu/~claytronics/papers/mderosa-ijrr-2008.pdf},
venue = {International Journal of Robotics Research},
number = {3},
title = {Distributed Watchpoints: Debugging Large Modular Robotic
Systems},
abstract = {Distributed systems frequently exhibit properties of
interest which span multiple entities. These properties cannot
easily be detected from any single entity, but can be readily be
detected by combining the knowledge of multiple entities. Testing
for distributed properties is especially important in debugging
or verifying software for modular robots. We have developed a
technique we call distributed watchpoint triggers which can
efficiently recognize distributed conditions. Our watchpoint
description language can handle a variety of temporal, spatial,
and logical properties spanning multiple robots. This paper
presents the specification language, describes the distributed
online mechanism for detecting distributed conditions in a
running system, and evaluates the performance of our
implementation.},
volume = {27},
also = {Distributed Watchpoints: Debugging Large Multi-Robot
Systems, (icra07)},
year = {2008},
}
|
|
Integrated Debugging of Large Modular Robot Ensembles | pdf bib | |
Benjamin D. Rister, Jason D. Campbell, Padmanabhan Pillai, and Todd C. Mowry.
In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '07,
April, 2007.
|
| @inproceedings{rister-icra07,
author = {Rister, Benjamin D. and Campbell, Jason D. and Pillai,
Padmanabhan and Mowry, Todd C.},
title = {Integrated Debugging of Large Modular Robot Ensembles},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation {ICRA '07}},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
keywords = {Debugging, Distributed Systems},
month = {April},
abstract = {Creatively misquoting Thomas Hobbes, the process of
software debugging is nasty, brutish, and all too long. This
holds all the more true in robotics, which frequently involves
concurrency, extensive nondeterminisism, event-driven components,
complex state machines, and difficult platform limitations.
Inspired by the challenges we have encountered while attempting
to debug software on simulated ensembles of tens of thousands of
modular robots, we have developed a new debugging tool
particularly suited to the characteristics of highly parallel,
event- and state-driven robotics software. Our state capture and
introspection system also provides data that may be used in
higher-level debugging tools as well. We report on the design of
this promising debugging system, and on our experiences with it
so far.},
year = {2007},
url = {http://www.cs.cmu.edu/~claytronics/papers/rister-icra07.pdf},
}
|
|
Distributed Watchpoints: Debugging Very Large Ensembles of Robots | pdf bib talk | |
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
In Robotics: Science and Systems Workshop on Self-Reconfigurable Modular Robots,
August, 2006.
|
| |
Dry Adhesive |
|
Adhesion Behavior of Vertical and Aligned Polymer Microfibers | pdf bib | |
M.P. Murphy, Burak Aksak, and Metin Sitti.
In Proceedings of Adhesion Society Symposium,
February, 2007.
|
| @inproceedings{aksak-pass07,
author = {Murphy, M.P. and Aksak, Burak and Sitti, Metin},
title = {Adhesion Behavior of Vertical and Aligned Polymer
Microfibers},
booktitle = {Proceedings of Adhesion Society Symposium},
venue = {Proceedings of Adhesion Society Symposium},
year = {2007},
month = {February},
keywords = {Adhesion, Dry Adhesive},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-pass07.pdf},
}
|
|
Adhesion and Anisotropic Friction Enhancements of Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips | pdf bib | |
M.P. Murphy, Burak Aksak, and Metin Sitti.
Journal of Adhesion Science and Technology,
2007.
|
| @article{aksak-jast07,
author = {Murphy, M.P. and Aksak, Burak and Sitti, Metin},
title = {Adhesion and Anisotropic Friction Enhancements of Angled
Heterogeneous Micro-Fiber Arrays with Spherical and Spatula
Tips},
journal = {Journal of Adhesion Science and Technology},
venue = {Journal of Adhesion Science and Technology},
year = {2007},
institution = {NanoRobotics Laboratory, Department of Mechanical
Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania
15213},
abstract = {Angled polyurethane fiber arrays are modified by adding
soft spherical and spatula shaped tips by dipping. These fibers
are characterized for adhesion and friction and compared with
unmodified fibers and flat material samples. Sphere and spatula
tip fiber samples demonstrate increased adhesion, with 10 and 23
times the maximum adhesion of the unmodified fiber sample,
respectively. The sphere and spatula tip fiber samples also show
increased friction, with 1.6 and 4.7 times the maximum friction
of the unmodified fiber sample, respectively. Simultaneous
friction and adhesion is observed in a synthetic dry angled
fibrillar adhesive sample (spatula tip fiber sample) for the
first time. The direction dependent friction of angled fibers is
investigated and observed. The adhesion and friction results
reported in this paper suggest that fibers with negligible
adhesion can be modified to exhibit significant adhesion and
friction enhancement by the proposed fiber tip modifications.},
keywords = {Gecko, Adhesion, Angled Fiber Array, Friction, Dry
Adhesive, Bioinspired adhesive},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-jast07.pdf},
}
|
Ensemble Principle |
|
Catoms: Moving Robots Without Moving Parts | pdf bib | |
Brian Kirby, Jason D. Campbell, Burak Aksak, Padmanabhan Pillai, James F. Hoburg, Todd C. Mowry, and Seth Copen Goldstein.
In AAAI (Robot Exhibition),
pages 1730–1, July, 2005.
|
| @inproceedings{kirby05,
author = {Kirby, Brian and Campbell, Jason D. and Aksak, Burak and
Pillai, Padmanabhan and Hoburg, James F. and Mowry, Todd C. and
Goldstein, Seth Copen},
title = {Catoms: Moving Robots Without Moving Parts},
url = {http://www.cs.cmu.edu/~claytronics/papers/kirby05.pdf},
booktitle = {AAAI (Robot Exhibition)},
venue = {AAAI (Robot Exhibition)},
pages = {1730--1},
year = {2005},
month = {July},
address = {Pittsburgh, PA},
keywords = {Ensemble Principle},
abstract = {We demonstrate modular robot prototypes developed as
part of the Claytronics Project (Goldstein et al. 2005). Among
the novel features of these robots (“catoms”) is their ability to
reconfigure (move) relative to one another without moving parts.
The absence of moving parts is central to one key aim of our
work, namely, plausible manufacturability at smaller and smaller
physical scales using high-volume, low-unit-cost techniques such
as batch photolithography, multi-material submicron 3D
lithographic processing, and self assembly. Claytronics envisions
multi-million-module robot ensembles able to form into three
dimensional scenes, eventually with sufficient fidelity so as to
convince a human observer the scenes are real. This work presents
substantial challenges in mechanical and electronic design,
control, programming, reliability, power delivery, and motion
planning (among other areas), and holds the promise of radically
altering the relationship between computation, humans, and the
physical world.},
}
|
|
The Ensemble Principle | pdf bib | |
Seth Copen Goldstein, Todd C. Mowry, Jason D. Campbell, Peter Lee, Padmanabhan Pillai, James F. Hoburg, Phillip B. Gibbons, Carlos Guestrin, James Kuffner, Brian Kirby, Benjamin D. Rister, Michael De Rosa, Stanislav Funiak, Burak Aksak, and Rahul Sukthankar.
In 13th Foresight Conference of Advanced Nanotechnogy,
October, 2005.
|
| @inproceedings{goldstein05,
author = {Goldstein, Seth Copen and Mowry, Todd C. and Campbell,
Jason D. and Lee, Peter and Pillai, Padmanabhan and Hoburg, James
F. and Gibbons, Phillip B. and Guestrin, Carlos and Kuffner,
James and Kirby, Brian and Rister, Benjamin D. and De~Rosa,
Michael and Funiak, Stanislav and Aksak, Burak and Sukthankar,
Rahul},
title = {The Ensemble Principle},
booktitle = {13th Foresight Conference of Advanced Nanotechnogy},
venue = {Foresight Conference of Advanced Nanotechnogy},
url = {http://www.cs.cmu.edu/~claytronics/papers/goldstein05.html},
year = {2005},
month = {October},
address = {San Francisco, CA},
keywords = {Ensemble Principle},
}
|
Friction |
|
Adhesion and Anisotropic Friction Enhancements of Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips | pdf bib | |
M.P. Murphy, Burak Aksak, and Metin Sitti.
Journal of Adhesion Science and Technology,
2007.
|
| @article{aksak-jast07,
author = {Murphy, M.P. and Aksak, Burak and Sitti, Metin},
title = {Adhesion and Anisotropic Friction Enhancements of Angled
Heterogeneous Micro-Fiber Arrays with Spherical and Spatula
Tips},
journal = {Journal of Adhesion Science and Technology},
venue = {Journal of Adhesion Science and Technology},
year = {2007},
institution = {NanoRobotics Laboratory, Department of Mechanical
Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania
15213},
abstract = {Angled polyurethane fiber arrays are modified by adding
soft spherical and spatula shaped tips by dipping. These fibers
are characterized for adhesion and friction and compared with
unmodified fibers and flat material samples. Sphere and spatula
tip fiber samples demonstrate increased adhesion, with 10 and 23
times the maximum adhesion of the unmodified fiber sample,
respectively. The sphere and spatula tip fiber samples also show
increased friction, with 1.6 and 4.7 times the maximum friction
of the unmodified fiber sample, respectively. Simultaneous
friction and adhesion is observed in a synthetic dry angled
fibrillar adhesive sample (spatula tip fiber sample) for the
first time. The direction dependent friction of angled fibers is
investigated and observed. The adhesion and friction results
reported in this paper suggest that fibers with negligible
adhesion can be modified to exhibit significant adhesion and
friction enhancement by the proposed fiber tip modifications.},
keywords = {Gecko, Adhesion, Angled Fiber Array, Friction, Dry
Adhesive, Bioinspired adhesive},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-jast07.pdf},
}
|
Gecko |
|
Adhesion and Anisotropic Friction Enhancements of Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips | pdf bib | |
M.P. Murphy, Burak Aksak, and Metin Sitti.
Journal of Adhesion Science and Technology,
2007.
|
| @article{aksak-jast07,
author = {Murphy, M.P. and Aksak, Burak and Sitti, Metin},
title = {Adhesion and Anisotropic Friction Enhancements of Angled
Heterogeneous Micro-Fiber Arrays with Spherical and Spatula
Tips},
journal = {Journal of Adhesion Science and Technology},
venue = {Journal of Adhesion Science and Technology},
year = {2007},
institution = {NanoRobotics Laboratory, Department of Mechanical
Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania
15213},
abstract = {Angled polyurethane fiber arrays are modified by adding
soft spherical and spatula shaped tips by dipping. These fibers
are characterized for adhesion and friction and compared with
unmodified fibers and flat material samples. Sphere and spatula
tip fiber samples demonstrate increased adhesion, with 10 and 23
times the maximum adhesion of the unmodified fiber sample,
respectively. The sphere and spatula tip fiber samples also show
increased friction, with 1.6 and 4.7 times the maximum friction
of the unmodified fiber sample, respectively. Simultaneous
friction and adhesion is observed in a synthetic dry angled
fibrillar adhesive sample (spatula tip fiber sample) for the
first time. The direction dependent friction of angled fibers is
investigated and observed. The adhesion and friction results
reported in this paper suggest that fibers with negligible
adhesion can be modified to exhibit significant adhesion and
friction enhancement by the proposed fiber tip modifications.},
keywords = {Gecko, Adhesion, Angled Fiber Array, Friction, Dry
Adhesive, Bioinspired adhesive},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-jast07.pdf},
}
|
Graphical Models |
|
Distributed Inference in Dynamical Systems | pdf bib | |
Stanislav Funiak, Carlos Guestrin, Mark Paskin, and Rahul Sukthankar.
In Advances in Neural Information Processing Systems 19,
pages 433–440, December, 2006.
|
| @inproceedings{funiak-nips06,
title = {Distributed Inference in Dynamical Systems},
author = {Funiak, Stanislav and Guestrin, Carlos and Paskin, Mark
and Sukthankar, Rahul},
booktitle = {Advances in Neural Information Processing Systems 19},
venue = {Advances in Neural Information Processing Systems},
editor = {B. Scholkopf and J. Platt and T. Hoffman},
publisher = {MIT Press},
address = {Cambridge, MA},
pages = {433--440},
year = {2006},
month = {December},
url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-nips06.pdf},
keywords = {Probabilistic Inference, Sensing, Distributed
Algorithms, Graphical Models},
abstract = {We present a robust distributed algorithm for
approximate probabilistic inference in dynamical systems, such as
sensor networks and teams of mobile robots. Using assumed density
filtering, the network nodes maintain a tractable representation
of the belief state in a distributed fashion. At each time step,
the nodes coordinate to condition this distribution on the
observations made throughout the network, and to advance this
estimate to the next time step. In addition, we identify a
significant challenge for probabilistic inference in dynamical
systems: message losses or network partitions can cause nodes to
have inconsistent beliefs about the current state of the system.
We address this problem by developing distributed algorithms that
guarantee that nodes will reach an informative consistent
distribution when communication is re-established. We present a
suite of experimental results on real-world sensor data for two
real sensor network deployments: one with 25 cameras and another
with 54 temperature sensors.},
}
|
|
Distributed Localization of Networked Cameras | pdf bib | |
Stanislav Funiak, Carlos Guestrin, Rahul Sukthankar, and Mark Paskin.
In Fifth International Conference on Information Processing in Sensor Networks (IPSN'06),
pages 34–42, April, 2006.
|
| @inproceedings{funiak-ipsn06,
author = {Funiak, Stanislav and Guestrin, Carlos and Sukthankar,
Rahul and Paskin, Mark},
title = {Distributed Localization of Networked Cameras},
booktitle = {Fifth International Conference on Information
Processing in Sensor Networks (IPSN'06)},
venue = {International Conference on Information Processing in
Sensor Networks (IPSN'06)},
month = {April},
pages = {34--42},
year = {2006},
keywords = {Probabilistic Inference, Sensing, Distributed
Algorithms, Graphical Models, Localization},
url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-ipsn06.pdf},
abstract = {Camera networks are perhaps the most common type of
sensor network and are deployed in a variety of real-world
applications including surveillance, intelligent environments and
scientific remote monitoring. A key problem in deploying a
network of cameras is calibration, i.e., determining the location
and orientation of each sensor so that observations in an image
can be mapped to locations in the real world. This paper proposes
a fully distributed approach for camera network calibration. The
cameras collaborate to track an object that moves through the
environment and reason probabilistically about which camera poses
are consistent with the observed images. This reasoning employs
sophisticated techniques for handling the difficult
nonlinearities imposed by projective transformations, as well as
the dense correlations that arise between distant cameras. Our
method requires minimal overlap of the cameras' fields of view
and makes very few assumptions about the motion of the object. In
contrast to existing approaches, which are centralized, our
distributed algorithm scales easily to very large camera
networks. We evaluate the system on a real camera network with 25
nodes as well as simulated camera networks of up to 50 cameras
and demonstrate that our approach performs well even when
communication is lossy.},
}
|
Hierarchical Algorithms |
|
Hierarchical Motion Planning for Self-reconfigurable Modular Robots | pdf bib | |
Preethi Srinivas Bhat, James Kuffner, Seth Copen Goldstein, and Siddhartha S. Srinivasa.
In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
October, 2006.
|
| @inproceedings{bhat06,
author = {Bhat, Preethi Srinivas and Kuffner, James and Goldstein,
Seth Copen and Srinivasa, Siddhartha S.},
title = {Hierarchical Motion Planning for Self-reconfigurable
Modular Robots},
booktitle = {2006 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS)},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
year = {2006},
month = {October},
keywords = {Planning, Controlling Ensembles, Hierarchical
Algorithms},
url = {http://www.cs.cmu.edu/~claytronics/papers/bhat06.pdf},
abstract = {Motion planning for a self-reconfigurable robot involves
coordinating the movement and connectivity of each of its
homogeneous modules. Reconfiguration occurs when the shape of the
robot changes from some initial configuration to a target
configuration. Finding an optimal solution to reconfiguration
problems involves searching the space of possible robot
configurations. As this space grows exponentially with the number
of modules, optimal planning becomes intractable. We propose a
hierarchical planning approach that computes heuristic global
reconfiguration strategies efficiently. Our approach consists of
a base planner that computes an optimal solution for a few
modules and a hierarchical planner that calls this base planner
or reuses pre-computed plans at each level of the hierarchy to
ultimately compute a global suboptimal solution. We present
results from a prototype implementation of the method that
efficiently plans for self-reconfigurable robots with several
thousand modules.We also discuss tradeoffs and performance issues
including scalability, heuristics and plan optimality.},
}
|
LDP |
|
Programming Modular Robots with Locally Distributed Predicates | pdf bib | |
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '08,
2008.
|
| @inproceedings{derosa-icra08,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation {ICRA '08}},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
keywords = {Claytronics, Modular Robotics, Programming, LDP},
title = {Programming Modular Robots with Locally Distributed
Predicates},
year = {2008},
abstract = {We present a high-level language for programming modular
robotic systems, based on locally distributed predicates (LDP),
which are distributed conditions that hold for a connected
subensemble of the robotic system. An LDP program is a collection
of LDPs with associated actions which are triggered on any
subensemble that matches the predicate. The result is a reactive
programming language which efficiently and concisely supports
ensemble-level programming. We demonstrate the utility of LDP by
implementing three common, but diverse, modular robotic tasks.},
url = {http://www.cs.cmu.edu/~claytronics/papers/derosa-icra08.pdf},
}
|
|
Declarative Programming for Modular Robots | pdf bib | |
Michael P. Ashley-Rollman, Michael De Rosa, Siddhartha S. Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason D. Campbell.
In Workshop on Self-Reconfigurable Robots/Systems and Applications at IROS '07,
October, 2007.
|
| @inproceedings{ashley-rollman-derosa-iros07wksp,
author = {Ashley-Rollman, Michael P. and De~Rosa, Michael and
Srinivasa, Siddhartha S. and Pillai, Padmanabhan and Goldstein,
Seth Copen and Campbell, Jason D.},
title = {Declarative Programming for Modular Robots},
booktitle = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at {IROS '07}},
venue = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at IROS},
year = {2007},
month = {October},
keywords = {Programming Models, Planning, LDP, Meld},
abstract = {Because of the timing, complexity, and asynchronicity
challenges common in modular robot software we have recently
begun to explore new programming models for modular robot
ensembles. In this paper we apply two of those models to a
metamodule-based shape planning algorithm and comment on the
differences between the two approaches. Our results suggest that
declarative programming can provide several advantages over more
traditional imperative approaches, and that the differences
between declarative programming styles can themselves contribute
leverage to different parts of the problem domain.},
url = {http://www.cs.cmu.edu/~claytronics/papers/ashley-rollman-derosa-iros07wksp.pdf},
}
|
Localization |
|
Distributed Localization of Modular Robot Ensembles | bib | |
Stanislav Funiak, Padmanabhan Pillai, Michael P. Ashley-Rollman, Jason D. Campbell, and Seth Copen Goldstein.
International Journal of Robotics Research,
28(8):946–961,2009.
|
| @article{funiak-ijrr08,
author = {Funiak, Stanislav and Pillai, Padmanabhan and
Ashley-Rollman, Michael P. and Campbell, Jason D. and Goldstein,
Seth Copen},
title = {Distributed Localization of Modular Robot Ensembles},
journal = {International Journal of Robotics Research},
keywords = {Localization, Modular Robotics},
volume = {28},
number = {8},
year = {2009},
pages = {946-961},
}
|
|
Distributed Localization of Modular Robot Ensembles | pdf bib | |
Stanislav Funiak, Padmanabhan Pillai, Michael P. Ashley-Rollman, Jason D. Campbell, and Seth Copen Goldstein.
In Proceedings of Robotics: Science and Systems,
June, 2008.
|
| |
|
Internal Localization of Modular Robot Ensembles | pdf bib | |
Stanislav Funiak, Padmanabhan Pillai, Jason D. Campbell, and Seth Copen Goldstein.
In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07,
October, 2007.
|
| @inproceedings{funiak-iros07,
author = {Funiak, Stanislav and Pillai, Padmanabhan and Campbell,
Jason D. and Goldstein, Seth Copen},
title = {Internal Localization of Modular Robot Ensembles},
booktitle = {Workshop on Self-Reconfiguring Modular Robotics at the
IEEE International Conference on Intelligent Robots and Systems
(IROS) '07},
venue = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at IROS},
year = {2007},
month = {October},
abstract = {The determination of the relative position and pose of
every robot in a modular robotic ensemble is a necessary
preliminary step for most modular robotic tasks. Localization is
particularly important when the modules make local noisy
observations and are not significantly constrained by inter-robot
latches. In this paper, we propose a robust hierarchical approach
to the {\em internal localization} problem that uses normalized
cut to identify subproblems with small localization error. A key
component of our solution is a simple method to reduce the cost
of normalized cut computations. The result is a robust algorithm
that scales to large, non-homogeneous ensembles. We evaluate our
algorithm in simulation on ensembles of up to 10,000 modules,
demonstrating substantial improvements over prior work.},
keywords = {Probabilistic Inference, Sensing, Localization,
Distributed Algorithms},
url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-iros07.pdf},
}
|
|
Distributed Localization of Networked Cameras | pdf bib | |
Stanislav Funiak, Carlos Guestrin, Rahul Sukthankar, and Mark Paskin.
In Fifth International Conference on Information Processing in Sensor Networks (IPSN'06),
pages 34–42, April, 2006.
|
| @inproceedings{funiak-ipsn06,
author = {Funiak, Stanislav and Guestrin, Carlos and Sukthankar,
Rahul and Paskin, Mark},
title = {Distributed Localization of Networked Cameras},
booktitle = {Fifth International Conference on Information
Processing in Sensor Networks (IPSN'06)},
venue = {International Conference on Information Processing in
Sensor Networks (IPSN'06)},
month = {April},
pages = {34--42},
year = {2006},
keywords = {Probabilistic Inference, Sensing, Distributed
Algorithms, Graphical Models, Localization},
url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-ipsn06.pdf},
abstract = {Camera networks are perhaps the most common type of
sensor network and are deployed in a variety of real-world
applications including surveillance, intelligent environments and
scientific remote monitoring. A key problem in deploying a
network of cameras is calibration, i.e., determining the location
and orientation of each sensor so that observations in an image
can be mapped to locations in the real world. This paper proposes
a fully distributed approach for camera network calibration. The
cameras collaborate to track an object that moves through the
environment and reason probabilistically about which camera poses
are consistent with the observed images. This reasoning employs
sophisticated techniques for handling the difficult
nonlinearities imposed by projective transformations, as well as
the dense correlations that arise between distant cameras. Our
method requires minimal overlap of the cameras' fields of view
and makes very few assumptions about the motion of the object. In
contrast to existing approaches, which are centralized, our
distributed algorithm scales easily to very large camera
networks. We evaluate the system on a real camera network with 25
nodes as well as simulated camera networks of up to 50 cameras
and demonstrate that our approach performs well even when
communication is lossy.},
}
|
|
Localization Techniques for Synthetic Reality | bib | |
Greg Reshko.
Master's Thesis, Carnegie Mellon University,
2004.
|
| @mastersthesis{reshko04,
author = {Reshko, Greg},
venue = {Masters Thesis},
title = {Localization Techniques for Synthetic Reality},
school = {Carnegie Mellon University},
keywords = {Localization},
year = {2004},
}
|
Meld |
|
A Language for Large Ensembles of Independently Executing Nodes | pdf bib | |
Michael P. Ashley-Rollman, Peter Lee, Seth Copen Goldstein, Padmanabhan Pillai, and Jason D. Campbell.
In Proceedings of the International Conference on Logic Programming (ICLP '09),
July, 2009.
|
| @inproceedings{ashley-rollman-iclp09,
author = {Ashley-Rollman, Michael P. and Lee, Peter and Goldstein,
Seth Copen and Pillai, Padmanabhan and Campbell, Jason D.},
title = {A Language for Large Ensembles of Independently Executing
Nodes},
year = {2009},
month = {July},
keywords = {Distributed Systems, Meld, Programming Languages},
url = {http://www.cs.cmu.edu/~claytronics/papers/ashley-rollman-iclp09.pdf},
abstract = {We address how to write programs for distributed
computing systems in which the network topology can change
dynamically. Examples of such systems, which we call {\em
ensembles}, include programmable sensor networks (where the
network topology can change due to failures in the nodes or
links) and modular robotics systems (whose physical configuration
can be rearranged under program control). We extend Meld, a logic
programming language that allows an ensemble to be viewed as a
single computing system. In addition to proving some key
properties of the language, we have also implemented a complete
compiler for Meld. It generates code for TinyOS and for a
Claytronics simulator. We have successfully written correct,
efficient, and complex programs for ensembles containing over one
million nodes.},
booktitle = {Proceedings of the International Conference on Logic
Programming (ICLP '09)},
}
|
|
Distributed Localization of Modular Robot Ensembles | pdf bib | |
Stanislav Funiak, Padmanabhan Pillai, Michael P. Ashley-Rollman, Jason D. Campbell, and Seth Copen Goldstein.
In Proceedings of Robotics: Science and Systems,
June, 2008.
|
| |
|
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems | pdf bib | |
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein.
In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08,
September, 2008.
|
| @inproceedings{dewey-iros08,
author = {Dewey, Daniel and Srinivasa, Siddhartha S. and
Ashley-Rollman, Michael P. and De~Rosa, Michael and Pillai,
Padmanabhan and Mowry, Todd C. and Campbell, Jason D. and
Goldstein, Seth Copen},
title = {Generalizing Metamodules to Simplify Planning in Modular
Robotic Systems},
booktitle = {Proceedings of IEEE/RSJ 2008 International Conference
on Intelligent Robots and Systems {IROS '08}},
year = {2008},
address = {Nice, France},
month = {September},
abstract = {In this paper we develop a theory of metamodules and an
associated distributed asynchronous planner which generalizes
previous work on metamodules for lattice-based modular robotic
systems. All extant modular robotic systems have some form of
non-holonomic motion constraints. This has prompted many
researchers to look to metamodules, i.e., groups of modules that
act as a unit, as a way to reduce motion constraints and the
complexity of planning. However, previous metamodule designs have
been specific to a particular modular robot. By analyzing the
constraints found in modular robotic systems we develop a
holonomic metamodule which has two important properties: (1) it
can be used as the basic unit of an efficient planner and (2) it
can be instantiated by a wide variety of different underlying
modular robots, e.g., modular robot arms, expanding cubes,
hex-packed spheres, etc. Using a series of transformations we
show that our practical metamodule system has a provably complete
planner. Finally, our approach allows the task of shape
transformation to be separated into a planning task and a
resource allocation task. We implement our planner for two
different metamodule systems and show that the time to completion
scales linearly with the diameter of the ensemble.},
url = {http://www.cs.cmu.edu/~claytronics/papers/dewey-iros08.pdf},
keywords = {Meld, Planning, Multi-Robot Formations, Controlling
Ensembles, Robotics},
}
|
|
Declarative Programming for Modular Robots | pdf bib | |
Michael P. Ashley-Rollman, Michael De Rosa, Siddhartha S. Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason D. Campbell.
In Workshop on Self-Reconfigurable Robots/Systems and Applications at IROS '07,
October, 2007.
|
| @inproceedings{ashley-rollman-derosa-iros07wksp,
author = {Ashley-Rollman, Michael P. and De~Rosa, Michael and
Srinivasa, Siddhartha S. and Pillai, Padmanabhan and Goldstein,
Seth Copen and Campbell, Jason D.},
title = {Declarative Programming for Modular Robots},
booktitle = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at {IROS '07}},
venue = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at IROS},
year = {2007},
month = {October},
keywords = {Programming Models, Planning, LDP, Meld},
abstract = {Because of the timing, complexity, and asynchronicity
challenges common in modular robot software we have recently
begun to explore new programming models for modular robot
ensembles. In this paper we apply two of those models to a
metamodule-based shape planning algorithm and comment on the
differences between the two approaches. Our results suggest that
declarative programming can provide several advantages over more
traditional imperative approaches, and that the differences
between declarative programming styles can themselves contribute
leverage to different parts of the problem domain.},
url = {http://www.cs.cmu.edu/~claytronics/papers/ashley-rollman-derosa-iros07wksp.pdf},
}
|
|
Meld: A Declarative Approach to Programming Ensembles | pdf bib | |
Michael P. Ashley-Rollman, Seth Copen Goldstein, Peter Lee, Todd C. Mowry, and Padmanabhan Pillai.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
October, 2007.
|
| @inproceedings{ashley-rollman-iros07,
author = {Ashley-Rollman, Michael P. and Goldstein, Seth Copen and
Lee, Peter and Mowry, Todd C. and Pillai, Padmanabhan},
title = {Meld: A Declarative Approach to Programming Ensembles},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
year = {2007},
month = {October},
keywords = {Programming Languages, Meld},
abstract = {This paper presents Meld, a programming language for
modular robots, i.e., for independently executing robots where
inter-robot communication is limited to immediate neighbors. Meld
is a declarative language, based on P2, a logic-programming
language originally designed for programming overlay networks. By
using logic programming, the code for an ensemble of robots can
be written from a global perspective, as opposed to a large
collection of independent robot views. This greatly simplifies
the thought process needed for programming large ensembles.
Initial experience shows that this also leads to a considerable
reduction in code size and complexity. An initial implementation
of Meld has been completed and has been used to demonstrate its
effectiveness in the Claytronics simulator. Early results
indicate that Meld programs are considerably more concise (more
than 20x shorter) than programs written in C++, while running
nearly as efficiently.},
url = {http://www.cs.cmu.edu/~claytronics/papers/ashley-rollman-iros07.pdf},
}
|
Modular Robotics |
|
Distributed Localization of Modular Robot Ensembles | bib | |
Stanislav Funiak, Padmanabhan Pillai, Michael P. Ashley-Rollman, Jason D. Campbell, and Seth Copen Goldstein.
International Journal of Robotics Research,
28(8):946–961,2009.
|
| @article{funiak-ijrr08,
author = {Funiak, Stanislav and Pillai, Padmanabhan and
Ashley-Rollman, Michael P. and Campbell, Jason D. and Goldstein,
Seth Copen},
title = {Distributed Localization of Modular Robot Ensembles},
journal = {International Journal of Robotics Research},
keywords = {Localization, Modular Robotics},
volume = {28},
number = {8},
year = {2009},
pages = {946-961},
}
|
|
Programming Modular Robots with Locally Distributed Predicates | pdf bib | |
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '08,
2008.
|
| @inproceedings{derosa-icra08,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation {ICRA '08}},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
keywords = {Claytronics, Modular Robotics, Programming, LDP},
title = {Programming Modular Robots with Locally Distributed
Predicates},
year = {2008},
abstract = {We present a high-level language for programming modular
robotic systems, based on locally distributed predicates (LDP),
which are distributed conditions that hold for a connected
subensemble of the robotic system. An LDP program is a collection
of LDPs with associated actions which are triggered on any
subensemble that matches the predicate. The result is a reactive
programming language which efficiently and concisely supports
ensemble-level programming. We demonstrate the utility of LDP by
implementing three common, but diverse, modular robotic tasks.},
url = {http://www.cs.cmu.edu/~claytronics/papers/derosa-icra08.pdf},
}
|
Multi-Robot Formations |
|
An Energy and Memory-Efficient Distributed Self-reconfiguration for Modular Sensor/Robot Networks | bib | |
Hicham Lakhlef, Hakim Mabed, and Julien Bourgeois.
Journal of Supercomputing,
*(*):***–***,2014.
|
| @article{Lakhlef-SUPE14,
author = {Lakhlef, Hicham and Mabed, Hakim and Bourgeois, Julien},
title = {An Energy and Memory-Efficient Distributed
Self-reconfiguration for Modular Sensor/Robot Networks},
journal = {Journal of Supercomputing},
pages = {***--***},
volume = {*},
number = {*},
publisher = {Springer},
year = {2014},
keywords = {Multi-Robot Formations},
}
|
|
Optimization of the Logical Topology for Mobile MEMS Networks | bib | |
Hicham Lakhlef, Hakim Mabed, and Julien Bourgeois.
JNCA, Journal of Network and Computer Applications,
*(*):***–***,2014.
|
| @article{Lakhlef-JNCA14,
author = {Lakhlef, Hicham and Mabed, Hakim and Bourgeois, Julien},
title = {Optimization of the Logical Topology for Mobile {MEMS}
Networks},
journal = {JNCA, Journal of Network and Computer Applications},
pages = {***--***},
volume = {*},
number = {*},
publisher = {Elsevier},
year = {2014},
keywords = {Multi-Robot Formations},
}
|
|
Robust Parallel Redeployment Algorithm for MEMS Microrobots. | bib | |
Hicham Lakhlef, Julien Bourgeois, and Hakim Mabed.
In AINA 2014, 28th IEEE Int. Conf. on Advanced Information Networking and Applications,
pages 1–8, May, 2014.
|
| @inproceedings{Lakhlef-AINA14,
author = {Lakhlef, Hicham and Bourgeois, Julien and Mabed, Hakim},
title = {Robust Parallel Redeployment Algorithm for {MEMS}
Microrobots.},
booktitle = {AINA 2014, 28th IEEE Int. Conf. on Advanced Information
Networking and Applications},
pages = {1--8},
address = {Victoria, Canada},
publisher = {IEEE},
month = {May},
year = {2014},
keywords = {Multi-Robot Formations},
}
|
|
Distributed and Efficient Algorithm for Self-reconfiguration of MEMS Microrobots | bib | |
Hicham Lakhlef, Hakim Mabed, and Julien Bourgeois.
In SAC 2013, 28-th ACM Symposium On Applied Computing,
pages 1–6, March, 2013.
|
| @inproceedings{lakhlef-sac13,
author = {Lakhlef, Hicham and Mabed, Hakim and Bourgeois, Julien},
title = {Distributed and Efficient Algorithm for
Self-reconfiguration of {MEMS} Microrobots},
booktitle = {SAC 2013, 28-th ACM Symposium On Applied Computing},
pages = {1--6},
address = {Coimbra, Portugal},
month = {March},
year = {2013},
keywords = {Multi-Robot Formations},
}
|
|
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems | pdf bib | |
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein.
In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08,
September, 2008.
|
| @inproceedings{dewey-iros08,
author = {Dewey, Daniel and Srinivasa, Siddhartha S. and
Ashley-Rollman, Michael P. and De~Rosa, Michael and Pillai,
Padmanabhan and Mowry, Todd C. and Campbell, Jason D. and
Goldstein, Seth Copen},
title = {Generalizing Metamodules to Simplify Planning in Modular
Robotic Systems},
booktitle = {Proceedings of IEEE/RSJ 2008 International Conference
on Intelligent Robots and Systems {IROS '08}},
year = {2008},
address = {Nice, France},
month = {September},
abstract = {In this paper we develop a theory of metamodules and an
associated distributed asynchronous planner which generalizes
previous work on metamodules for lattice-based modular robotic
systems. All extant modular robotic systems have some form of
non-holonomic motion constraints. This has prompted many
researchers to look to metamodules, i.e., groups of modules that
act as a unit, as a way to reduce motion constraints and the
complexity of planning. However, previous metamodule designs have
been specific to a particular modular robot. By analyzing the
constraints found in modular robotic systems we develop a
holonomic metamodule which has two important properties: (1) it
can be used as the basic unit of an efficient planner and (2) it
can be instantiated by a wide variety of different underlying
modular robots, e.g., modular robot arms, expanding cubes,
hex-packed spheres, etc. Using a series of transformations we
show that our practical metamodule system has a provably complete
planner. Finally, our approach allows the task of shape
transformation to be separated into a planning task and a
resource allocation task. We implement our planner for two
different metamodule systems and show that the time to completion
scales linearly with the diameter of the ensemble.},
url = {http://www.cs.cmu.edu/~claytronics/papers/dewey-iros08.pdf},
keywords = {Meld, Planning, Multi-Robot Formations, Controlling
Ensembles, Robotics},
}
|
|
A Scalable Distributed Algorithm for Shape Transformation in Multi-Robot Systems | pdf bib | |
Ramprasad Ravichandran, Geoffrey Gordon, and Seth Copen Goldstein.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems IROS '07,
October, 2007.
|
| @inproceedings{ravichandran-iros07,
author = {Ravichandran, Ramprasad and Gordon, Geoffrey and
Goldstein, Seth Copen},
title = {A Scalable Distributed Algorithm for Shape Transformation
in Multi-Robot Systems},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems {IROS '07}},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
year = {2007},
month = {October},
keywords = {Multi-Robot Formations},
abstract = {Distributed reconfiguration is an important problem in
multi-robot systems such as mobile sensor nets and metamorphic
robot systems. In this work, we present a scalable distributed
reconfiguration algorithm, Hierarchical Median Decomposition, to
achieve arbitrary target configurations. Our algorithm is built
on top of a novel distributed median consensus estimator. The
algorithms presented are fully distributed and do not require
global communication. We show results from simulations in an open
source multi-robot simulator.},
url = {http://www.cs.cmu.edu/~claytronics/papers/ravichandran-iros07.pdf},
}
|
Nanofiber Friction |
|
Friction of Partially Embedded Vertically Aligned Carbon Nanofibers Inside Elastomers | pdf bib | |
Burak Aksak, Alan Cassell, Jun Li, Meyya Meyyappan, Phillip Callen, and Metin Sitti.
Applied Physics Letters,
91,2007.
|
| @article{aksak-apl07,
author = {Aksak, Burak and Cassell, Alan and Li, Jun and Meyyappan,
Meyya and Callen, Phillip and Sitti, Metin},
title = {Friction of Partially Embedded Vertically Aligned Carbon
Nanofibers Inside Elastomers},
journal = {Applied Physics Letters},
venue = {Applied Physics Letters},
year = {2007},
volume = {91},
abstract = {Vertically aligned carbon nanofibers partially embedded
inside polyurethane (eVACNFs) is proposed as a robust high
friction fibrillar material with a compliant backing. Carbon
nanofibers with 50-150 $nm$ in diameter and 20-30 $\mu$m in
length are vertically grown on silicon and transferred completely
inside an elastomer by vacuum molding. Using time controlled and
selective oxygen plasma etching, fibers are partially released up
to 5 $\mu$m length. Macroscale friction experiments show that
eVACNFs exhibit reproducible effective friction coefficients up
to 1. Besides high friction, the proposed fabrication method
improves fiber-substrate bond strength, and enables uniform
height nanofibers with a compliant backing.},
keywords = {Nanofiber friction, compliant nanostructures, carbon
nanofibers},
originallink = {http://link.aip.org/link/?apl/91/061906},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-apl07.pdf},
}
|
Planning |
|
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems | pdf bib | |
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein.
In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08,
September, 2008.
|
| @inproceedings{dewey-iros08,
author = {Dewey, Daniel and Srinivasa, Siddhartha S. and
Ashley-Rollman, Michael P. and De~Rosa, Michael and Pillai,
Padmanabhan and Mowry, Todd C. and Campbell, Jason D. and
Goldstein, Seth Copen},
title = {Generalizing Metamodules to Simplify Planning in Modular
Robotic Systems},
booktitle = {Proceedings of IEEE/RSJ 2008 International Conference
on Intelligent Robots and Systems {IROS '08}},
year = {2008},
address = {Nice, France},
month = {September},
abstract = {In this paper we develop a theory of metamodules and an
associated distributed asynchronous planner which generalizes
previous work on metamodules for lattice-based modular robotic
systems. All extant modular robotic systems have some form of
non-holonomic motion constraints. This has prompted many
researchers to look to metamodules, i.e., groups of modules that
act as a unit, as a way to reduce motion constraints and the
complexity of planning. However, previous metamodule designs have
been specific to a particular modular robot. By analyzing the
constraints found in modular robotic systems we develop a
holonomic metamodule which has two important properties: (1) it
can be used as the basic unit of an efficient planner and (2) it
can be instantiated by a wide variety of different underlying
modular robots, e.g., modular robot arms, expanding cubes,
hex-packed spheres, etc. Using a series of transformations we
show that our practical metamodule system has a provably complete
planner. Finally, our approach allows the task of shape
transformation to be separated into a planning task and a
resource allocation task. We implement our planner for two
different metamodule systems and show that the time to completion
scales linearly with the diameter of the ensemble.},
url = {http://www.cs.cmu.edu/~claytronics/papers/dewey-iros08.pdf},
keywords = {Meld, Planning, Multi-Robot Formations, Controlling
Ensembles, Robotics},
}
|
|
Declarative Programming for Modular Robots | pdf bib | |
Michael P. Ashley-Rollman, Michael De Rosa, Siddhartha S. Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason D. Campbell.
In Workshop on Self-Reconfigurable Robots/Systems and Applications at IROS '07,
October, 2007.
|
| @inproceedings{ashley-rollman-derosa-iros07wksp,
author = {Ashley-Rollman, Michael P. and De~Rosa, Michael and
Srinivasa, Siddhartha S. and Pillai, Padmanabhan and Goldstein,
Seth Copen and Campbell, Jason D.},
title = {Declarative Programming for Modular Robots},
booktitle = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at {IROS '07}},
venue = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at IROS},
year = {2007},
month = {October},
keywords = {Programming Models, Planning, LDP, Meld},
abstract = {Because of the timing, complexity, and asynchronicity
challenges common in modular robot software we have recently
begun to explore new programming models for modular robot
ensembles. In this paper we apply two of those models to a
metamodule-based shape planning algorithm and comment on the
differences between the two approaches. Our results suggest that
declarative programming can provide several advantages over more
traditional imperative approaches, and that the differences
between declarative programming styles can themselves contribute
leverage to different parts of the problem domain.},
url = {http://www.cs.cmu.edu/~claytronics/papers/ashley-rollman-derosa-iros07wksp.pdf},
}
|
|
Movement Primitives for an Orthogonal Prismatic Closed-Lattice-Constrained Self-Reconfiguring Module | pdf bib | |
Michael Philetus Weller, Mustafa Emre Karagozler, Brian Kirby, Jason D. Campbell, and Seth Copen Goldstein.
In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07,
October, 2007.
|
| @inproceedings{weller-iros07,
author = {Weller, Michael Philetus and Karagozler, Mustafa Emre and
Kirby, Brian and Campbell, Jason D. and Goldstein, Seth Copen},
title = {Movement Primitives for an Orthogonal Prismatic
Closed-Lattice-Constrained Self-Reconfiguring Module},
booktitle = {Workshop on Self-Reconfiguring Modular Robotics at the
IEEE International Conference on Intelligent Robots and Systems
(IROS) '07},
venue = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at IROS},
year = {2007},
month = {October},
keywords = {Adhesion, Robotics, Planning},
abstract = {We describe a new set of prismatic movement primitives
for cubic modular robots. Our approach appears more practical
than previous metamodule-based approaches. We also describe
recent hardware developments in our cubic robot modules that have
sufficient stiffness and actuator strength so that when they work
together they can realize, in earth's gravity, all of the motion
primitives we describe here.},
url = {http://www.cs.cmu.edu/~claytronics/papers/weller-iros07.pdf},
}
|
|
Hierarchical Motion Planning for Self-reconfigurable Modular Robots | pdf bib | |
Preethi Srinivas Bhat, James Kuffner, Seth Copen Goldstein, and Siddhartha S. Srinivasa.
In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
October, 2006.
|
| @inproceedings{bhat06,
author = {Bhat, Preethi Srinivas and Kuffner, James and Goldstein,
Seth Copen and Srinivasa, Siddhartha S.},
title = {Hierarchical Motion Planning for Self-reconfigurable
Modular Robots},
booktitle = {2006 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS)},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
year = {2006},
month = {October},
keywords = {Planning, Controlling Ensembles, Hierarchical
Algorithms},
url = {http://www.cs.cmu.edu/~claytronics/papers/bhat06.pdf},
abstract = {Motion planning for a self-reconfigurable robot involves
coordinating the movement and connectivity of each of its
homogeneous modules. Reconfiguration occurs when the shape of the
robot changes from some initial configuration to a target
configuration. Finding an optimal solution to reconfiguration
problems involves searching the space of possible robot
configurations. As this space grows exponentially with the number
of modules, optimal planning becomes intractable. We propose a
hierarchical planning approach that computes heuristic global
reconfiguration strategies efficiently. Our approach consists of
a base planner that computes an optimal solution for a few
modules and a hierarchical planner that calls this base planner
or reuses pre-computed plans at each level of the hierarchy to
ultimately compute a global suboptimal solution. We present
results from a prototype implementation of the method that
efficiently plans for self-reconfigurable robots with several
thousand modules.We also discuss tradeoffs and performance issues
including scalability, heuristics and plan optimality.},
}
|
|
Scalable Shape Sculpting via Hole Motion: Motion Planning in Lattice-Constrained Module Robots | pdf bib | |
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06),
May, 2006.
|
| @inproceedings{derosa-icra06,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
title = {Scalable Shape Sculpting via Hole Motion: Motion Planning
in Lattice-Constrained Module Robots},
month = {May},
booktitle = {Proceedings of the 2006 {IEEE} International Conference
on Robotics and Automation (ICRA '06)},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
year = {2006},
keywords = {Planning, Controlling Ensembles, Stochastic Algorithms},
url = {http://www.cs.cmu.edu/~claytronics/papers/derosa-icra06.pdf},
abstract = {We describe a novel shape formation algorithm for
ensembles of 2-dimensional lattice-arrayed modular robots, based
on the manipulation of regularly shaped voids within the lattice
(``holes''). The algorithm is massively parallel and fully
distributed. Constructing a goal shape requires time proportional
only to the complexity of the desired target geometry.
Construction of the shape by the modules requires no global
communication nor broadcast floods after distribution of the
target shape. Results in simulation show 97.3\% shape compliance
in ensembles of approximately 60,000 modules, and we believe that
the algorithm will generalize to 3D and scale to handle millions
of modules.},
}
|
Power |
|
Analysis and Modeling of Capacitive Power Transfer in Microsystems | bib | |
Mustafa Emre Karagozler, Seth Copen Goldstein, and David S. Ricketts.
Circuits and Systems I: Regular Papers, IEEE Transactions on,
59(7):1557 –1566,July, 2012.
|
| @article{karagozler-TCCS12,
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Ricketts, David S.},
journal = {Circuits and Systems I: Regular Papers, IEEE Transactions
on},
title = {Analysis and Modeling of Capacitive Power Transfer in
Microsystems},
year = {2012},
month = {July},
volume = {59},
number = {7},
pages = {1557 -1566},
keywords = {Actuation, Adhesion,Power},
doi = {10.1109/TCSI.2011.2177011},
issn = {1549-8328},
}
|
|
Magnetic resonant coupling as a potential means for wireless power transfer to multiple small receivers | pdf bib | |
Benjamin L. Cannon, James F. Hoburg, Daniel D. Stancil, and Seth Copen Goldstein.
IEEE Transactions on Power Electronics,
24(7),July, 2009.
|
| @article{cannon-tranpe09,
author = {Cannon, Benjamin L. and Hoburg, James F. and Stancil,
Daniel D. and Goldstein, Seth Copen},
title = {Magnetic resonant coupling as a potential means for
wireless power transfer to multiple small receivers},
year = {2009},
url = {http://www.cs.cmu.edu/~claytronics/papers/cannon-tranpe09.pdf},
month = {July},
volume = {24},
number = {7},
journal = {IEEE Transactions on Power Electronics},
keywords = {Power},
abstract = {Wireless power transfer via magnetic resonant coupling
is experimentally demonstrated in a system with a large source
coil and either one or two small receivers. Resonance between
source and load coils is achieved with lumped capacitors
terminating the coils. A circuit model is developed to describe
the system with a single receiver, and extended to describe the
system with two receivers. With parameter values chosen to obtain
good fits, the circuit models yield transfer frequency responses
that are in good agreement with experimental measurements over a
range of frequencies that span the resonance. Resonant frequency
splitting is observed experimentally and described theoretically
for the multiple receiver system. In the single receiver system
at resonance, more than 50\% of the power that is supplied by the
actual source is delivered to the load. In a multiple receiver
system, a means for tracking frequency shifts and continuously
retuning the lumped capacitances that terminate each receiver
coil so as to maximize efficiency is a key issue for future
work.},
}
|
|
Harnessing Capacitance for Inter-Robot Latching, Communication, and Power Transfer | pdf bib | |
Mustafa Emre Karagozler.
Master's Thesis, Carnegie Mellon University,
May, 2007.
Also appeared as Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots in IROS '07.
|
| @mastersthesis{karagozler-msreport07,
author = {Karagozler, Mustafa Emre},
title = {Harnessing Capacitance for Inter-Robot Latching,
Communication, and Power Transfer},
venue = {Masters Thesis},
also = {Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots in IROS '07},
month = {May},
year = {2007},
school = {Carnegie Mellon University},
abstract = {A simple and robust inter-module latch is possibly the
most important component of a modular robotic system. This report
describes a latch based on capacitive coupling which not only
provides significant adhesion forces, but can also be used for
inter-module power transmission and communication. The key
insight that enables electrostatic adhesion to be effective at
the macro scale is to combine flexible electrodes with a geometry
that uses shear forces to provide adhesion. To measure the
effectiveness of our latch we incorporated it into a 28cm x 28cm
x 28cm modular robot. The result is a latch which requires almost
zero static power and yet can hold over 0.6N/cm2 of latch area.},
keywords = {Actuation, Adhesion, Power},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-msreport07.pdf},
}
|
|
Power Delivery Circuit for Scalable Claytronics | bib | |
Byung W. Yoon.
Master's Thesis, Carnegie Mellon University, Electrical and Computer Engineering,
August, 2007.
|
| @mastersthesis{yoon07,
author = {Yoon, Byung W.},
title = {Power Delivery Circuit for Scalable Claytronics},
school = {Carnegie Mellon University, Electrical and Computer
Engineering},
year = {2007},
keywords = {Power},
month = {August},
}
|
|
The Robot is the Tether: Active, Adaptive Power Routing for Modular Robots With Unary Inter-robot Connectors | pdf bib | |
Jason D. Campbell, Padmanabhan Pillai, and Seth Copen Goldstein.
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005),
pages 4108–15, August, 2005.
|
| @inproceedings{campbell05,
author = {Campbell, Jason D. and Pillai, Padmanabhan and Goldstein,
Seth Copen},
title = {The Robot is the Tether: Active, Adaptive Power Routing for
Modular Robots With Unary Inter-robot Connectors},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots
and Systems (IROS 2005)},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
pages = {4108--15},
year = {2005},
address = {Edmonton, Alberta Canada},
month = {August},
keywords = {Power},
url = {http://www.cs.cmu.edu/~claytronics/papers/campbell05.pdf},
}
|
Probabilistic Inference |
|
Internal Localization of Modular Robot Ensembles | pdf bib | |
Stanislav Funiak, Padmanabhan Pillai, Jason D. Campbell, and Seth Copen Goldstein.
In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07,
October, 2007.
|
| @inproceedings{funiak-iros07,
author = {Funiak, Stanislav and Pillai, Padmanabhan and Campbell,
Jason D. and Goldstein, Seth Copen},
title = {Internal Localization of Modular Robot Ensembles},
booktitle = {Workshop on Self-Reconfiguring Modular Robotics at the
IEEE International Conference on Intelligent Robots and Systems
(IROS) '07},
venue = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at IROS},
year = {2007},
month = {October},
abstract = {The determination of the relative position and pose of
every robot in a modular robotic ensemble is a necessary
preliminary step for most modular robotic tasks. Localization is
particularly important when the modules make local noisy
observations and are not significantly constrained by inter-robot
latches. In this paper, we propose a robust hierarchical approach
to the {\em internal localization} problem that uses normalized
cut to identify subproblems with small localization error. A key
component of our solution is a simple method to reduce the cost
of normalized cut computations. The result is a robust algorithm
that scales to large, non-homogeneous ensembles. We evaluate our
algorithm in simulation on ensembles of up to 10,000 modules,
demonstrating substantial improvements over prior work.},
keywords = {Probabilistic Inference, Sensing, Localization,
Distributed Algorithms},
url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-iros07.pdf},
}
|
|
Distributed Inference in Dynamical Systems | pdf bib | |
Stanislav Funiak, Carlos Guestrin, Mark Paskin, and Rahul Sukthankar.
In Advances in Neural Information Processing Systems 19,
pages 433–440, December, 2006.
|
| @inproceedings{funiak-nips06,
title = {Distributed Inference in Dynamical Systems},
author = {Funiak, Stanislav and Guestrin, Carlos and Paskin, Mark
and Sukthankar, Rahul},
booktitle = {Advances in Neural Information Processing Systems 19},
venue = {Advances in Neural Information Processing Systems},
editor = {B. Scholkopf and J. Platt and T. Hoffman},
publisher = {MIT Press},
address = {Cambridge, MA},
pages = {433--440},
year = {2006},
month = {December},
url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-nips06.pdf},
keywords = {Probabilistic Inference, Sensing, Distributed
Algorithms, Graphical Models},
abstract = {We present a robust distributed algorithm for
approximate probabilistic inference in dynamical systems, such as
sensor networks and teams of mobile robots. Using assumed density
filtering, the network nodes maintain a tractable representation
of the belief state in a distributed fashion. At each time step,
the nodes coordinate to condition this distribution on the
observations made throughout the network, and to advance this
estimate to the next time step. In addition, we identify a
significant challenge for probabilistic inference in dynamical
systems: message losses or network partitions can cause nodes to
have inconsistent beliefs about the current state of the system.
We address this problem by developing distributed algorithms that
guarantee that nodes will reach an informative consistent
distribution when communication is re-established. We present a
suite of experimental results on real-world sensor data for two
real sensor network deployments: one with 25 cameras and another
with 54 temperature sensors.},
}
|
|
Distributed Localization of Networked Cameras | pdf bib | |
Stanislav Funiak, Carlos Guestrin, Rahul Sukthankar, and Mark Paskin.
In Fifth International Conference on Information Processing in Sensor Networks (IPSN'06),
pages 34–42, April, 2006.
|
| @inproceedings{funiak-ipsn06,
author = {Funiak, Stanislav and Guestrin, Carlos and Sukthankar,
Rahul and Paskin, Mark},
title = {Distributed Localization of Networked Cameras},
booktitle = {Fifth International Conference on Information
Processing in Sensor Networks (IPSN'06)},
venue = {International Conference on Information Processing in
Sensor Networks (IPSN'06)},
month = {April},
pages = {34--42},
year = {2006},
keywords = {Probabilistic Inference, Sensing, Distributed
Algorithms, Graphical Models, Localization},
url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-ipsn06.pdf},
abstract = {Camera networks are perhaps the most common type of
sensor network and are deployed in a variety of real-world
applications including surveillance, intelligent environments and
scientific remote monitoring. A key problem in deploying a
network of cameras is calibration, i.e., determining the location
and orientation of each sensor so that observations in an image
can be mapped to locations in the real world. This paper proposes
a fully distributed approach for camera network calibration. The
cameras collaborate to track an object that moves through the
environment and reason probabilistically about which camera poses
are consistent with the observed images. This reasoning employs
sophisticated techniques for handling the difficult
nonlinearities imposed by projective transformations, as well as
the dense correlations that arise between distant cameras. Our
method requires minimal overlap of the cameras' fields of view
and makes very few assumptions about the motion of the object. In
contrast to existing approaches, which are centralized, our
distributed algorithm scales easily to very large camera
networks. We evaluate the system on a real camera network with 25
nodes as well as simulated camera networks of up to 50 cameras
and demonstrate that our approach performs well even when
communication is lossy.},
}
|
Programming |
|
Programming Modular Robots with Locally Distributed Predicates | pdf bib | |
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '08,
2008.
|
| @inproceedings{derosa-icra08,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation {ICRA '08}},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
keywords = {Claytronics, Modular Robotics, Programming, LDP},
title = {Programming Modular Robots with Locally Distributed
Predicates},
year = {2008},
abstract = {We present a high-level language for programming modular
robotic systems, based on locally distributed predicates (LDP),
which are distributed conditions that hold for a connected
subensemble of the robotic system. An LDP program is a collection
of LDPs with associated actions which are triggered on any
subensemble that matches the predicate. The result is a reactive
programming language which efficiently and concisely supports
ensemble-level programming. We demonstrate the utility of LDP by
implementing three common, but diverse, modular robotic tasks.},
url = {http://www.cs.cmu.edu/~claytronics/papers/derosa-icra08.pdf},
}
|
Programming Languages |
|
A Language for Large Ensembles of Independently Executing Nodes | pdf bib | |
Michael P. Ashley-Rollman, Peter Lee, Seth Copen Goldstein, Padmanabhan Pillai, and Jason D. Campbell.
In Proceedings of the International Conference on Logic Programming (ICLP '09),
July, 2009.
|
| @inproceedings{ashley-rollman-iclp09,
author = {Ashley-Rollman, Michael P. and Lee, Peter and Goldstein,
Seth Copen and Pillai, Padmanabhan and Campbell, Jason D.},
title = {A Language for Large Ensembles of Independently Executing
Nodes},
year = {2009},
month = {July},
keywords = {Distributed Systems, Meld, Programming Languages},
url = {http://www.cs.cmu.edu/~claytronics/papers/ashley-rollman-iclp09.pdf},
abstract = {We address how to write programs for distributed
computing systems in which the network topology can change
dynamically. Examples of such systems, which we call {\em
ensembles}, include programmable sensor networks (where the
network topology can change due to failures in the nodes or
links) and modular robotics systems (whose physical configuration
can be rearranged under program control). We extend Meld, a logic
programming language that allows an ensemble to be viewed as a
single computing system. In addition to proving some key
properties of the language, we have also implemented a complete
compiler for Meld. It generates code for TinyOS and for a
Claytronics simulator. We have successfully written correct,
efficient, and complex programs for ensembles containing over one
million nodes.},
booktitle = {Proceedings of the International Conference on Logic
Programming (ICLP '09)},
}
|
|
Meld: A Declarative Approach to Programming Ensembles | pdf bib | |
Michael P. Ashley-Rollman, Seth Copen Goldstein, Peter Lee, Todd C. Mowry, and Padmanabhan Pillai.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
October, 2007.
|
| @inproceedings{ashley-rollman-iros07,
author = {Ashley-Rollman, Michael P. and Goldstein, Seth Copen and
Lee, Peter and Mowry, Todd C. and Pillai, Padmanabhan},
title = {Meld: A Declarative Approach to Programming Ensembles},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
year = {2007},
month = {October},
keywords = {Programming Languages, Meld},
abstract = {This paper presents Meld, a programming language for
modular robots, i.e., for independently executing robots where
inter-robot communication is limited to immediate neighbors. Meld
is a declarative language, based on P2, a logic-programming
language originally designed for programming overlay networks. By
using logic programming, the code for an ensemble of robots can
be written from a global perspective, as opposed to a large
collection of independent robot views. This greatly simplifies
the thought process needed for programming large ensembles.
Initial experience shows that this also leads to a considerable
reduction in code size and complexity. An initial implementation
of Meld has been completed and has been used to demonstrate its
effectiveness in the Claytronics simulator. Early results
indicate that Meld programs are considerably more concise (more
than 20x shorter) than programs written in C++, while running
nearly as efficiently.},
url = {http://www.cs.cmu.edu/~claytronics/papers/ashley-rollman-iros07.pdf},
}
|
Programming Models |
|
A Programming Model for Failure-Prone, Collaborative Robots | pdf bib talk | |
Nels Beckman and Jonathan Aldrich.
In Workshop on Software Development and Integration in Robotics (SDIR),
April, 2007.
|
| @inproceedings{beckman-sdir07,
author = {Beckman, Nels and Aldrich, Jonathan},
title = {A Programming Model for Failure-Prone, Collaborative
Robots},
booktitle = {Workshop on Software Development and Integration in
Robotics (SDIR)},
venue = {Workshop on Software Development and Integration in
Robotics (SDIR)},
year = {2007},
month = {April},
keywords = {Programming Models},
url = {http://www.cs.cmu.edu/~claytronics/papers/beckman-sdir07.pdf},
talk = {http://www.cs.cmu.edu/~nbeckman/presentations/failure_prone_collaborative_robots.pdf},
abstract = {A major problem in programming failure-prone
collaborative robots is liveness. How do we ensure that the
failure of one robot does not cause other robots to be
permanently unavailable if, for example, that robot was a leader
of others? In this paper, we propose a general mechanism which
could be added to existing RPC libraries that allows applications
to detect failure and execute programmer-specified recovery
code.},
}
|
|
Declarative Programming for Modular Robots | pdf bib | |
Michael P. Ashley-Rollman, Michael De Rosa, Siddhartha S. Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason D. Campbell.
In Workshop on Self-Reconfigurable Robots/Systems and Applications at IROS '07,
October, 2007.
|
| @inproceedings{ashley-rollman-derosa-iros07wksp,
author = {Ashley-Rollman, Michael P. and De~Rosa, Michael and
Srinivasa, Siddhartha S. and Pillai, Padmanabhan and Goldstein,
Seth Copen and Campbell, Jason D.},
title = {Declarative Programming for Modular Robots},
booktitle = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at {IROS '07}},
venue = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at IROS},
year = {2007},
month = {October},
keywords = {Programming Models, Planning, LDP, Meld},
abstract = {Because of the timing, complexity, and asynchronicity
challenges common in modular robot software we have recently
begun to explore new programming models for modular robot
ensembles. In this paper we apply two of those models to a
metamodule-based shape planning algorithm and comment on the
differences between the two approaches. Our results suggest that
declarative programming can provide several advantages over more
traditional imperative approaches, and that the differences
between declarative programming styles can themselves contribute
leverage to different parts of the problem domain.},
url = {http://www.cs.cmu.edu/~claytronics/papers/ashley-rollman-derosa-iros07wksp.pdf},
}
|
Robot Fabrication |
|
Electrostatic actuation and control of micro robots using a post-processed high-voltage SOI CMOS chip | bib | |
Mustafa Emre Karagozler, A. Thaker, Seth Copen Goldstein, and David S. Ricketts.
In Circuits and Systems (ISCAS), 2011 IEEE International Symposium on,
():2509 –2512,May, 2011.
|
| @inproceedings{karagozler-iscas11,
author = {Karagozler, Mustafa Emre and Thaker, A. and Goldstein,
Seth Copen and Ricketts, David S.},
booktitle = {Circuits and Systems (ISCAS), 2011 IEEE International
Symposium on},
title = {Electrostatic actuation and control of micro robots using a
post-processed high-voltage SOI CMOS chip},
year = {2011},
month = {May},
volume = {},
number = {},
pages = {2509 -2512},
keywords = {Robot Fabrication, Actuation},
doi = {10.1109/ISCAS.2011.5938114},
issn = {0271-4302},
}
|
|
Stress-driven mems assembly+ electrostatic forces= 1mm diameter robot | pdf bib | |
Mustafa Emre Karagozler, Seth Copen Goldstein, and J Robert Reid.
In Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on,
pages 2763–2769, 2009.
|
| @inproceedings{karagozler-iros09,
title = {Stress-driven mems assembly+ electrostatic forces= 1mm
diameter robot},
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Reid, J Robert},
booktitle = {Intelligent Robots and Systems, 2009. IROS 2009.
IEEE/RSJ International Conference on},
pages = {2763--2769},
year = {2009},
keywords = {Robot Fabrication, Actuation},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros09.pdf},
}
|
Robotics |
|
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems | pdf bib | |
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein.
In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08,
September, 2008.
|
| @inproceedings{dewey-iros08,
author = {Dewey, Daniel and Srinivasa, Siddhartha S. and
Ashley-Rollman, Michael P. and De~Rosa, Michael and Pillai,
Padmanabhan and Mowry, Todd C. and Campbell, Jason D. and
Goldstein, Seth Copen},
title = {Generalizing Metamodules to Simplify Planning in Modular
Robotic Systems},
booktitle = {Proceedings of IEEE/RSJ 2008 International Conference
on Intelligent Robots and Systems {IROS '08}},
year = {2008},
address = {Nice, France},
month = {September},
abstract = {In this paper we develop a theory of metamodules and an
associated distributed asynchronous planner which generalizes
previous work on metamodules for lattice-based modular robotic
systems. All extant modular robotic systems have some form of
non-holonomic motion constraints. This has prompted many
researchers to look to metamodules, i.e., groups of modules that
act as a unit, as a way to reduce motion constraints and the
complexity of planning. However, previous metamodule designs have
been specific to a particular modular robot. By analyzing the
constraints found in modular robotic systems we develop a
holonomic metamodule which has two important properties: (1) it
can be used as the basic unit of an efficient planner and (2) it
can be instantiated by a wide variety of different underlying
modular robots, e.g., modular robot arms, expanding cubes,
hex-packed spheres, etc. Using a series of transformations we
show that our practical metamodule system has a provably complete
planner. Finally, our approach allows the task of shape
transformation to be separated into a planning task and a
resource allocation task. We implement our planner for two
different metamodule systems and show that the time to completion
scales linearly with the diameter of the ensemble.},
url = {http://www.cs.cmu.edu/~claytronics/papers/dewey-iros08.pdf},
keywords = {Meld, Planning, Multi-Robot Formations, Controlling
Ensembles, Robotics},
}
|
|
Movement Primitives for an Orthogonal Prismatic Closed-Lattice-Constrained Self-Reconfiguring Module | pdf bib | |
Michael Philetus Weller, Mustafa Emre Karagozler, Brian Kirby, Jason D. Campbell, and Seth Copen Goldstein.
In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07,
October, 2007.
|
| @inproceedings{weller-iros07,
author = {Weller, Michael Philetus and Karagozler, Mustafa Emre and
Kirby, Brian and Campbell, Jason D. and Goldstein, Seth Copen},
title = {Movement Primitives for an Orthogonal Prismatic
Closed-Lattice-Constrained Self-Reconfiguring Module},
booktitle = {Workshop on Self-Reconfiguring Modular Robotics at the
IEEE International Conference on Intelligent Robots and Systems
(IROS) '07},
venue = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at IROS},
year = {2007},
month = {October},
keywords = {Adhesion, Robotics, Planning},
abstract = {We describe a new set of prismatic movement primitives
for cubic modular robots. Our approach appears more practical
than previous metamodule-based approaches. We also describe
recent hardware developments in our cubic robot modules that have
sufficient stiffness and actuator strength so that when they work
together they can realize, in earth's gravity, all of the motion
primitives we describe here.},
url = {http://www.cs.cmu.edu/~claytronics/papers/weller-iros07.pdf},
}
|
|
Ultralight Modular Robotic Building blocks for the Rapid Deployment of Planetary Outposts | pdf bib | |
Mustafa Emre Karagozler, Brian Kirby, W.J. Lee, Eugene Marinelli, T.C. Ng, Michael Philetus Weller, and Seth Copen Goldstein.
In Revolutionary Aerospace Systems Concepts Academic Linkage (RASC-AL) Forum 2006,
May, 2006.
|
| @inproceedings{karagozler-rascal06,
title = {Ultralight Modular Robotic Building blocks for the Rapid
Deployment of Planetary Outposts},
booktitle = {Revolutionary Aerospace Systems Concepts Academic
Linkage {(RASC-AL)} Forum 2006},
venue = {Revolutionary Aerospace Systems Concepts Academic Linkage
{(RASC-AL)} Forum},
author = {Karagozler, Mustafa Emre and Kirby, Brian and Lee, W.J.
and Marinelli, Eugene and Ng, T.C. and Weller, Michael Philetus
and Goldstein, Seth Copen},
year = {2006},
month = {May},
address = {Cape Canaveral, FL},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-rascal06.pdf},
keywords = {Applications of Claytronics, Robotics},
}
|
|
Claytronics: A scalable basis for future robots | pdf bib | |
Seth Copen Goldstein and Todd C. Mowry.
In RoboSphere 2004,
November, 2004.
|
| @inproceedings{goldstein-robosphere04,
author = {Goldstein, Seth Copen and Mowry, Todd C.},
title = {Claytronics: A scalable basis for future robots},
booktitle = {RoboSphere 2004},
venue = {RoboSphere 2004},
address = {Moffett Field, CA},
month = {November},
year = {2004},
keywords = {Robotics},
url = {http://www.cs.cmu.edu/~claytronics/papers/goldstein-robosphere04.pdf},
}
|
Sensing |
|
Internal Localization of Modular Robot Ensembles | pdf bib | |
Stanislav Funiak, Padmanabhan Pillai, Jason D. Campbell, and Seth Copen Goldstein.
In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07,
October, 2007.
|
| @inproceedings{funiak-iros07,
author = {Funiak, Stanislav and Pillai, Padmanabhan and Campbell,
Jason D. and Goldstein, Seth Copen},
title = {Internal Localization of Modular Robot Ensembles},
booktitle = {Workshop on Self-Reconfiguring Modular Robotics at the
IEEE International Conference on Intelligent Robots and Systems
(IROS) '07},
venue = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at IROS},
year = {2007},
month = {October},
abstract = {The determination of the relative position and pose of
every robot in a modular robotic ensemble is a necessary
preliminary step for most modular robotic tasks. Localization is
particularly important when the modules make local noisy
observations and are not significantly constrained by inter-robot
latches. In this paper, we propose a robust hierarchical approach
to the {\em internal localization} problem that uses normalized
cut to identify subproblems with small localization error. A key
component of our solution is a simple method to reduce the cost
of normalized cut computations. The result is a robust algorithm
that scales to large, non-homogeneous ensembles. We evaluate our
algorithm in simulation on ensembles of up to 10,000 modules,
demonstrating substantial improvements over prior work.},
keywords = {Probabilistic Inference, Sensing, Localization,
Distributed Algorithms},
url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-iros07.pdf},
}
|
|
Distributed Inference in Dynamical Systems | pdf bib | |
Stanislav Funiak, Carlos Guestrin, Mark Paskin, and Rahul Sukthankar.
In Advances in Neural Information Processing Systems 19,
pages 433–440, December, 2006.
|
| @inproceedings{funiak-nips06,
title = {Distributed Inference in Dynamical Systems},
author = {Funiak, Stanislav and Guestrin, Carlos and Paskin, Mark
and Sukthankar, Rahul},
booktitle = {Advances in Neural Information Processing Systems 19},
venue = {Advances in Neural Information Processing Systems},
editor = {B. Scholkopf and J. Platt and T. Hoffman},
publisher = {MIT Press},
address = {Cambridge, MA},
pages = {433--440},
year = {2006},
month = {December},
url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-nips06.pdf},
keywords = {Probabilistic Inference, Sensing, Distributed
Algorithms, Graphical Models},
abstract = {We present a robust distributed algorithm for
approximate probabilistic inference in dynamical systems, such as
sensor networks and teams of mobile robots. Using assumed density
filtering, the network nodes maintain a tractable representation
of the belief state in a distributed fashion. At each time step,
the nodes coordinate to condition this distribution on the
observations made throughout the network, and to advance this
estimate to the next time step. In addition, we identify a
significant challenge for probabilistic inference in dynamical
systems: message losses or network partitions can cause nodes to
have inconsistent beliefs about the current state of the system.
We address this problem by developing distributed algorithms that
guarantee that nodes will reach an informative consistent
distribution when communication is re-established. We present a
suite of experimental results on real-world sensor data for two
real sensor network deployments: one with 25 cameras and another
with 54 temperature sensors.},
}
|
|
Distributed Localization of Networked Cameras | pdf bib | |
Stanislav Funiak, Carlos Guestrin, Rahul Sukthankar, and Mark Paskin.
In Fifth International Conference on Information Processing in Sensor Networks (IPSN'06),
pages 34–42, April, 2006.
|
| @inproceedings{funiak-ipsn06,
author = {Funiak, Stanislav and Guestrin, Carlos and Sukthankar,
Rahul and Paskin, Mark},
title = {Distributed Localization of Networked Cameras},
booktitle = {Fifth International Conference on Information
Processing in Sensor Networks (IPSN'06)},
venue = {International Conference on Information Processing in
Sensor Networks (IPSN'06)},
month = {April},
pages = {34--42},
year = {2006},
keywords = {Probabilistic Inference, Sensing, Distributed
Algorithms, Graphical Models, Localization},
url = {http://www.cs.cmu.edu/~claytronics/papers/funiak-ipsn06.pdf},
abstract = {Camera networks are perhaps the most common type of
sensor network and are deployed in a variety of real-world
applications including surveillance, intelligent environments and
scientific remote monitoring. A key problem in deploying a
network of cameras is calibration, i.e., determining the location
and orientation of each sensor so that observations in an image
can be mapped to locations in the real world. This paper proposes
a fully distributed approach for camera network calibration. The
cameras collaborate to track an object that moves through the
environment and reason probabilistically about which camera poses
are consistent with the observed images. This reasoning employs
sophisticated techniques for handling the difficult
nonlinearities imposed by projective transformations, as well as
the dense correlations that arise between distant cameras. Our
method requires minimal overlap of the cameras' fields of view
and makes very few assumptions about the motion of the object. In
contrast to existing approaches, which are centralized, our
distributed algorithm scales easily to very large camera
networks. We evaluate the system on a real camera network with 25
nodes as well as simulated camera networks of up to 50 cameras
and demonstrate that our approach performs well even when
communication is lossy.},
}
|
Simulation |
|
Efficient Simulation Environment of Wireless Radio Communications in MEMS Modular Robots | bib | |
Nicolas Boillot, Dominique Dhoutaut, and Julien Bourgeois.
In iThings 2013, IEEE Int. Conf. on Internet of Things,
pages 638–645, August, 2013.
|
| @inproceedings{boillot-ithings13,
author = {Boillot, Nicolas and Dhoutaut, Dominique and Bourgeois,
Julien},
title = {Efficient Simulation Environment of Wireless Radio
Communications in MEMS Modular Robots},
booktitle = {iThings 2013, IEEE Int. Conf. on Internet of Things},
pages = {638--645},
address = {Beijing, China},
month = {August},
year = {2013},
keywords = {Simulation},
}
|
|
Efficient Simulation of distributed Sensing and Control Environments | bib | |
Dominique Dhoutaut, Benoit Piranda, and Julien Bourgeois.
In iThings 2013, IEEE Int. Conf. on Internet of Things,
pages 452–459, August, 2013.
|
| @inproceedings{dhoutaut-ithings13,
author = {Dhoutaut, Dominique and Piranda, Benoit and Bourgeois,
Julien},
title = {Efficient Simulation of distributed Sensing and Control
Environments},
booktitle = {iThings 2013, IEEE Int. Conf. on Internet of Things},
pages = {452--459},
address = {Beijing, China},
month = {August},
year = {2013},
keywords = {Simulation},
}
|
|
Simulating multi-million-robot ensembles | bib | |
Michael P. Ashley-Rollman, Padmanabhan Pillai, and Michelle L. Goodstein.
In Proceedings of the 2011 IEEE International Conference on Robotics and Automation,
pages 1006–1013, 2011.
|
| @inproceedings{ashley-rollman-icra09,
author = {Ashley-Rollman, Michael P. and Pillai, Padmanabhan and
Goodstein, Michelle L.},
title = {Simulating multi-million-robot ensembles},
booktitle = {Proceedings of the 2011 IEEE International Conference
on Robotics and Automation},
year = {2011},
pages = {1006-1013},
keywords = {Simulation},
}
|
Stochastic Algorithms |
|
Scalable Shape Sculpting via Hole Motion: Motion Planning in Lattice-Constrained Module Robots | pdf bib | |
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai.
In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06),
May, 2006.
|
| @inproceedings{derosa-icra06,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
title = {Scalable Shape Sculpting via Hole Motion: Motion Planning
in Lattice-Constrained Module Robots},
month = {May},
booktitle = {Proceedings of the 2006 {IEEE} International Conference
on Robotics and Automation (ICRA '06)},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
year = {2006},
keywords = {Planning, Controlling Ensembles, Stochastic Algorithms},
url = {http://www.cs.cmu.edu/~claytronics/papers/derosa-icra06.pdf},
abstract = {We describe a novel shape formation algorithm for
ensembles of 2-dimensional lattice-arrayed modular robots, based
on the manipulation of regularly shaped voids within the lattice
(``holes''). The algorithm is massively parallel and fully
distributed. Constructing a goal shape requires time proportional
only to the complexity of the desired target geometry.
Construction of the shape by the modules requires no global
communication nor broadcast floods after distribution of the
target shape. Results in simulation show 97.3\% shape compliance
in ensembles of approximately 60,000 modules, and we believe that
the algorithm will generalize to 3D and scale to handle millions
of modules.},
}
|
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