相关论文: Collective Control for Arbitrary Configurations of…

The Modboat is a low-cost, underactuated, modular robot capable of surface swimming, docking to other modules, and undocking from them using only a single motor and two passive flippers. Undocking is achieved by causing intentional…

The Modboat is a low-cost, underactuated, modular robot capable of surface swimming. It is able to swim individually, dock to other Modboats, and undock from them using only a single motor and two passive flippers. Undocking without…

We describe a docking mechanism and strategy to allow modular self-assembly for the Modboat: an inexpensive underactuated oscillating swimming robot powered by a single motor. Because propulsion is achieved through oscillation, orientation…

The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along…

This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube…

We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…

Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile…

We present a novel design for a low-cost robotic boat powered by a single actuator, useful for both modular and swarming applications. The boat uses the conservation of angular momentum and passive flippers to convert the motion of a single…

Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs.…

We develop a hierarchical control architecture for autonomous docking maneuvers of a dynamic positioning vessel and provide formal safety guarantees. At the upper-level, we treat the vessel's desired surge, sway, and yaw velocities as…

Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reconstructed by limbless robotic systems for effective movement…

While undulatory swimming of elongate limbless robots has been extensively studied in open hydrodynamic environments, less research has been focused on limbless locomotion in complex, cluttered aquatic environments. Motivated by the concept…

Sailing robots provide a low-cost solution to conduct the ocean missions such as marine exploration, pollution detection, and border surveillance, etc. However, compared with other propeller-driven surface vessels, sailboat suffers in…

True microrobots, in contrast with externally controlled microparticles, must harvest or carry their own source of energy, as well as their own (preferably programmable) microcontroller of actuators for locomotion, using information…

Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each module has independent actuation, battery power, and control,…

We present a flow-based control strategy that enables resource-constrained marine robots to patrol gyre-like flow environments on an orbital trajectory with a periodicity in a given range. The controller does not require a detailed model of…

Designing robotic systems that can change their physical form factor as well as their compliance to adapt to environmental constraints remains a major conceptual and technical challenge. To address this, we introduce the Granulobot, a…

We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightweight deadlock prevention mechanism by forming temporary…

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…

Despite a slow neuromuscular system, humans easily outperform modern robot technology, especially in physical contact tasks. How is this possible? Biological evidence indicates that motor control of biological systems is achieved by a…