Related papers: Robust Self-Reconfiguration for Fault-Tolerant Con…
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate…
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with…
Modular self-reconfigurable robots (MSRRs) offer enhanced task flexibility by constructing various structures suitable for each task. However, conventional terrestrial MSRRs equipped with wheels face critical challenges, including…
Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework…
For lattice modular self-reconfigurable robots (MSRRs), maintaining stable connections during reconfiguration is crucial for physical feasibility and deployability. This letter presents a novel self-reconfiguration planning algorithm for…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…
While traditional robotic systems come with a monolithic system design, reconfigurable multi-robot systems can share and shift physical resources in an on-demand fashion. Multi-robot operations can benefit from this flexibility by actively…
The control and sensing of large-scale systems results in combinatorial problems not only for sensor and actuator placement but also for scheduling or observability/controllability. Such combinatorial constraints in system design and…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…