Scientific


    PUBLICATIONS

    ***** Joint Publications ******

    Journal Papers

  • E. Edqvist, N. Snis, U. Simu, S. Johansson, "A processing technique for unimorph multilayer PVDF-TrFE) actuators", submitted to Journal of Micro-Nano Mechatronics. (not published yet)
  • E. Edqvist, N. Snis, J. Gao, O. Scholz, R. Casanova, A. Dieguez, P.Corradi, N. Wyrsch, S. Johansson "Flexible building technology for microsystems: Surface assembly of a mass produced millimeter sized microrobot," to be submitted to Journal of Microelectromechanical Systems. (not published yet)
  • Corradi, P., Scholz, O., Knoll, T., Menciassi, A., and Dario, P.: "An Optical System for Communication and Sensing in Millimetre-Sized Swarming Microrobots", J. Micromech. Microeng., vol. 19, 2009.
  • Schmickl, Thomas; Thenius, Ronald; Moeslinger, Christoph; Radspieler, Gerald; Kernbach, Sergej; Szymanski, Marc; Crailsheim, Karl; "Get in touch: cooperative decision making based on robot-to-robot collisions". In: Autonomous Agents and Multi-Agent Systems (2008), 1 - 23.
  • P. Valdastri, P. Corradi, A. Menciassi, T. Schmickl, K. Crailsheim, J. Seyfried, P. Dario, "Micromanipulation, Communication, Swarm Intelligence Issues in a Swarm Microrobotic Platform," Robotics and Autonomous Systems, 54 (2006) 789-804.

    • Conference Papers

  • J. M. Breguet, S. Johansson, W. Driesen, and U. Simu, "A review on actuation principles for few cubic millimeter sized mobile micro-robots," in Proc. Int. Conf. on New Actuators, ACTUATOR '06, Bremen, Germany, 2006, pp. 374-381.
  • Alonso, O., Dieguez, A., Casanova, R., Sanuy, A., Scholz, O., Corradi, P., and Samitier, J.: "An optical interface for inter-robot communication in a swarm of microrobots" in Proc. 1st international conference on Robot communication and coordination, 318, Athens, Greece, IEEE Press, 2007, pp. 1-7.
  • Corradi, P., Ranzani, L., Scholz, O., Dieguez, A., Menciassi, A., Laschi, C., Martinelli, M., and Dario, P.: "Free-Space Optical Communication in a Swarm of Microrobots" in Proc. 33rd European Conference and Exhibition on Optical Communication, ECOC 2007, 2007.
  • Corradi, P., Schmickl, T., Scholz, O., Menciassi, A., and Dario, P.: "Optical Networking in a Swarm of Microrobots" in Proc. Third International Conference on Nano-Networks (Nano-Net 2008), Boston, 2008.
  • P. Corradi, A. Menciassi, P. Dario, "Space Applications of Micro-Robotics: A Preliminary Investigation of Technological Challenges and Scenarios," in Proc. of the 5th Round Table on Micro/Nano Technologies for Space, Noordwijk, The Netherlands, 2005.
  • Sanuy, A.; Casanova, R. ; Szymanski, M.; Woern, H. ; Samitier, J. ; Dieguez, A.; "Energy Aware HW/SW Integration in an Autonomous Microrobot"; 6th WSEAS int. Conf. on Computational Intelligence, Man-Machine Systems and Cybernetics. CIMMACS'07. Puerto de la Cruz, Tenerife (ESPANA).2007.
  • Sanuy, A.; Casanova, R. ; Szymanski, M.; Woern, H. ; Samitier, J. ; Dieguez, A.; "Energy Efficient HW/SW Integration in an Autonomous Microrobot"; 12th World Multi-Conference on Systemics, Cybernetics and Informatics: WMSCI 2008. Orlando, Florida, USA. 2008.
  • Hamann, Heiko; Woern, Heinz; Crailsheim, Karl; Schmickl, Thomas: Spatial Macroscopic Models of a Bio-Inspired Robotic Swarm Algorithm, in: IEEE Robotics & Automation Society (Hrsg): Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2008.

    • Posters on Conferences

  • Thenius, Ronald; Schmickl, Thomas; Kornienko, Sergej; Crailsheim, Karl: Bee-derived collision based algorithm tested in a micro-robot-swarm., fuer: 20th meeting of the German section of the IUSSI, 2007.

    • Public Media

  • Kernbach, Serge; Szymanski, Marc; Winkler, Lutz: Series "Hitec" (20.1.2008), 3sat, Television, 20.01.2008.
  • Kernbach, Serge; Schmickl, Thomas; Szymanski, Marc; Thenius, Ronald: Series "Newton" (12.1.2008), WDR, Television, 12.01.2008.
  • Kernbach, Serge; Schmickl, Thomas; Szymanski, Marc; Thenius, Ronald: Series "Quarks & Co." (10.4.2007), WDR, Television, 10.04.2007.
  • Kernbach, Serge; Schmickl, Thomas; Szymanski, Marc; Thenius, Ronald: Series "Nano" (11/2006), 3sat, Television, 11/2006
  • Kernbach, Serge; Schmickl, Thomas; Szymanski, Marc; Thenius, Ronald: "Bienen als Vorbild fuer Miniatur-Roboter" (Bees as Models for Miniature Robots ) (16.11.2006), Bayern3, Television, 16.11.2006
  • Kernbach, Serge; Schmickl, Thomas; Szymanski, Marc; Thenius, Ronald: "Swarm Robots Act with Group Intelligence", Discovery Channel, Television, 2004
  • Museum installation of a robots swarm (20 Jasmine robots) in the museum "Haus der Wissenschaften" (11/2006).
  • Article (German): "Die Stammtische der Roboterschwaerme" (The Regulars' Tables of the Robot Swarms), FAZ (28.02.2007).
  • Article (German): "Beweglich wie ein Bienenvolk" (Agile like Colony of Bees), Handelsblatt (19.02.2007)
  • Article (German): "Die Intelligenz eines Bienenvolks als Vorbild fuer Roboter" (The Intelligence of Bee Colonies as a Model for Robots) on 3sat (17.11.2006).
  • Article (German): "Der Bienentanz des Hungers" (The Bee Dance of Hunger) in the nationwide Austrian newspaper "Der Standard" (21.07.2006)

    • ***** Individual Publications ******

    Journal Papers

  • Jordi Brufau-Penella, Jorge Otero, M Puig-Vidal; "Microrobotic Technologies for Biological Micro-Nanohandling"; International Journal of Factory Automation, Robotics and Soft Computing; Vol. 3 ISSN: 1828-6984. 2007.
  • Colomer, J.; Saiz-Vela, A.; Miribel, P.; Viladoms, M.; Puig-Vidal, M.; Samitier, J.; "Efficient low-voltage low-power Converters for Self Powered Microsystems (SPMS) based on 0.13um technology"; WSEAS Transactions on Electronics; Vol. 3 n. 4 pp: 150-155; ISSN: 1109-9445; 2006.
  • Stephen Paul McKibbin, Bala Amavasai, Arul N. Selvan, Fabio Caparrelli, W.A.F.W. Othman. Recurrent Neural Robot Controllers: Feedback Mechanisms for Identifying Environmental Motion Dynamics. Submitted to Artificial Intelligence Review Journal - Special Issue in Hybrid Systems, 2008.
  • Dimos V. Dimarogonas a, Savvas G. Loizou a, Kostas J. Kyriakopoulos Michael M. Zavlanos; A Feedback Stabilization and CollisionAvoidance Scheme for Multiple Independent Non-point Agents. In Automatica, Vol. 42, No. 2, pp. 229-243, February 2006.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; A Feedback Control Scheme for Multiple Independent Dynamic Non-point Agents. In International Journal of Control, Vol. 79, No. 12, pp. 1613-1623, December 2006.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; On the Rendezvous Problem for Multiple Nonholonomic Agents. In IEEE Transactions on Automatic Control, Vol. 52, No. 5, pp. 916-922, May 2007.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; Aconnection between formation infeasibility and velocity alignment in kinematicmulti-agent systems. In Automatica,Vol. 44, No. 10, pp. 2648-2654, October 2008.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; Connectedness Preserving Distributed Swarm Aggregation for Multiple Kinematic Robots. In IEEE TRANSACTIONS ON ROBOTICS, VOL. 24, NO. 5, OCTOBER 2008.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; Inverse Agreement Protocols with Application to Distributed Multi-agent Dispersion. In IEEE Transactions on Automatic Control, 2009, to appear.
  • N. Wyrsch, S. Dunand, and C. Ballif, "Micro Photovoltaic Modules for Micro Systems," in Proc. Material Research Society Symp., MRS Spring Meeting, San Francisco, CA, 2008, p. A10.4.
  • E. Edqvist, N. Snis, and S. Johansson, "Gentle dry etching of P(VDF-TrFE) multilayer micro actuator structures by use of an inductive coupled plasma," Journal of Micromechanics and Microengineering, vol. 18, pp. 015007, 2008.
  • N. Snis, E. Edqvist, U. Simu, and S. Johansson, "Monolithic fabrication of multilayer P(VDF-TrFE) cantilevers," Sensors and Actuators A: Physical, vol. 144/2, pp. 314-320, 2008.
  • Schmickl, Thomas; Crailsheim, Karl: Trophallaxis within a robotic swarm: Bio-inspired communication amongrobots in a swarm, in: Autonomous Robots 25 (1-2) (2008), 171 - 188.
  • Schmickl, Thomas; Crailsheim, Karl: A Navigation Algorithm for Swarm Robotics Inspired by Slime Mold Aggregation, in: Lecture Notes in Computer Science 4433 (2007), 1 - 13.
  • Schmickl, Thomas; Moeslinger, Christoph; Crailsheim, Karl: Collective perception in a robot swarm., in: Lecture Notes in Computer Science 4433 (2007), 144 - 157.
  • Schmickl, Thomas; Moeslinger, Christoph; Thenius, Ronald; Crailsheim, Karl: Bio-inspired Navigation of Autonomous Robots in Heterogenous Environments, in: International Journal of Factory Automation, Robotics and Soft Computing 3 (2007), 164 - 170.
  • Schmickl, Thomas; Moeslinger, Christoph; Thenius, Ronald; Crailsheim, Karl: Individual adaptation allows collective path-finding in a robotic swarm, in: International Journal of Factory Automation, Robotics and Soft Computing (2007). (not published)
  • M. Hartbauer and H. Roemer; "A novel distributed swarm control strategy based on coupled signal oscillators". In Bioinspiration & Biomimetics, 2, 42-56 (2007)
  • M. Hartbauer; "Chorus model of the synchronizing bushcricket species Mecopoda elongata", In Eocological Modeling, 213/1, 105-118 (2008).

    • Articles in Books

  • Schmickl, Thomas; Moeslinger, Christoph; Thenius, Ronald; Crailsheim, Karl: Bio-inspired Navigation of Autonomous Robots in Heterogenous Environments., in: Salvatore Pennachio (Hrsg): Emerging Technologies, Robotics and Control Systems. International Society for Advanced Research 2007, 126 - 132.
  • Schmickl, Thomas; Moeslinger, Christoph; Thenius, Ronald; Crailsheim, Karl: Individual adaptation allows collective path-finding in a robotic swarm, in: Salvatore Pennachio (Hrsg): Emerging Technologies, Robotics and Control Systems. International Society for Advanced Research 2007. (not published)

    • Conference Papers

  • Arbat, A.; Dieguez, A.; Samitier, J.; "A 1 to 8 bit resolution SAR-ADC in 0.12um CMOS technology for low power micro-robotics applications"; Design of Circuits and Integrated Systems, DCIS '05; Lisboa (PORTUGAL), 2005.
  • Brufau-Penella, J.; Sanchez, J.; Puig-Vidal, M.; "Piezoelectric Polymer model validation applied to mm size microrobot I-SWARM (Intelligent Swarm)"; Proceedings of the SPIE Symposium on Smart Structures and Materials (SPIE). 2006.
  • Brufau-Penella, J.; Puig-Vidal, M.; "Electromechanical model of a multi-layer piezoelectric cantilever"; IEEE Eurosime 2006; Como (Italy). 2006.
  • Brufau-Penella, Puig-Vidal, M.; "Model validation of piezoelectric polymer applied to mm size microrobot I-SWARM"; SPIE Symposium on Smart Structures and Materials; San Diego (ESTATS UNITS D'AMERICA). 2006.
  • Colomer, J.; Saiz-Vela, A.; Miribel, P.; Viladoms, M.; Puig-Vidal, M.; Samitier, J.; "Efficient low-voltage low-power Converters for Self Powered Microsystems (SPMS) based on 0.13um technology"; 5th WSEAS Int.Conf. on microelectronics, nanoelectronics, optoelectronics(MINO'06); Praga (REPUBLICA TXECA).2006.
  • Colomer, J.; Saiz-Vela, A.; Miribel-Catala, P.; Puig-Vidal, M.; Samitier, J.; "An Integrated Charge Recovery Driver for an Autonomous robot smaller than cm3 ISWARM"; XXI Conference on Design of Circuits and Integrated Systems, DCIS; Barcelona (ESPANYA). 2006.
  • Colomer, J.; Saiz-Vela, A.; Miribel-Catala, P.; Viladoms, M.; Puig-Vidal, M.; Samitier, J.; "Low Voltage Low Power CMOS Dropout regulator for an Autonomous Robot: I-SWARM"; XXI Conference on Design of Circuits and Integrated Systems, DCIS; Barcelona (ESPANYA). 2006.
  • Colomer, J.; Saiz-Vela, A.; Miribel-Catala, P.; Viladoms, M.; Rossinyol, M.; Puig-Vidal, M.; Samitier, J.; "1.2V On-Chip Two-Phase Voltage Doubler for Ultra Low-Power Low-Voltage Biasing applications in a 0.13u CMOS techology"; XXI Conference on Design of Circuits and Integrated Systems, DCIS; Barcelona (ESPANYA). 2006.
  • Colomer, J.; Saiz-Vela, A.; Miribel, P.; Viladoms, M.; Puig-Vidal, M.; Samitier, J.; "Efficient Power Conditioning Circuit for Self-Powered Microsystems (SPMS) based on a Low-Voltage Low-Power 0.13um Technology"; International Symposium on Industrial Electronics IEEE-ISIE; Montreal (CANADA). 2006.
  • Arbat, A.; Dieguez, A.; Samitier, J.; "An Ultra Low Power Successive Approximation ADC with Selectable Resolution in 0.13um CMOS Technology", The 13th IEEE International Conference on Electronics, Circuits and Systems. ICECS'06; Nice (FRANÇA), 2006.
  • Sanuy, A.; Casanova, R. ; Arbat, A.; Dieguez, A.; Samitier, J.; "Optimization based on power consumption of task development in an ultra-low power SoC for a microrobot in a real swarm"; XXI Conference on Design of Circuits and Integrated Systems. DCIS'06. Barcelona, Spain, November 2006.
  • Colomer,J.;Saiz-Vela, A.;Miribel-Catala, P.;Puig-Vidal,M.;Samitier, J.; "Low-Voltage Low-Power Reference Circuits for an Autonomous Robot: I-SWARM"; Proceedings of the SPIE Vol. 6590,n.1, pp: 65900D-1 - 65900D-10; Bellingham, Washington (USA) ISSN: 0277-786X. 2007.
  • Arbat, A.; Dieguez, A.; Samitier, J.; "An Improved Temperature Compensation Technique for Current Biasing"; The 2007 IEEE International Symposium on Circuits and Systems (ISCAS'07); New Orleans (ESTATS UNITS D'AMERICA), 2007.
  • Arbat, A.; Canals, J; Casanova, R.; Dieguez, A.; Brufau, J.; Puig, M.;Samitier, J.; "Design and control of a micro-cantilever tool for micro-robot contact sensing"; 2007 European Conference on Circuit Theory and Design, ECCTD'07; Sevilla (ESPANYA), 2007.
  • Arbat, A.; Casanova, R. ; Sanuy, A.; Dieguez, A.; Samitier, J.; "A specifically designed interface for light vector trailing in a robotic swarm"; XXII Conference on Design of Circuits and Integrated Systems. DCIS'07; Sevilla (ESPANYA), 2007.
  • Casanova, R.; Dieguez, A.; Arbat, A.; Sanuy, A.; Alonso, O.; Canals, J.; Puig, M.; Samitier, J.; "A SoC for studying multi-agents software/algorithms on a real swarm of mm3-sized microrobots"; VLSI Circuits and Systems III; Maspalomas (ESPANYA). 2007
  • Colomer, J.; Brufau, J.; Miribel-Catala, P.; Saiz-Vela, A.; Puig-Vidal, M.; Samitier, J.; "Power Conditioning Circuitry for a Self-Powered Mobile System Based on an Array of Micro PZT Generators in a 0.13um Technology"; IEEE- ISIE 2007 (International Symposium on Industrial Electronics); Vigo (ESPANYA). 2007.
  • Colomer, J.; Brufau, J.; Miribel-Catala, P.; Saiz-Vela, A.; Puig-Vidal, M.; Samitier, J.; "Novel Autonomous Low Power VLSI System Powered by Ambient Mechanical Vibrations and Solar Cells for Portable Applications in a 0.13um Technology"; IEEE- PESC 2007 (Power Electronics Specialists Conference); Orlando (ESTATS UNITS D'AMERICA). 2007.
  • Colomer,J.; Miribel,P.; Saiz-Vela,A.; Brufau,J.;Manya,J.; Puig-Vidal,M.;Samitier,J.; "SiP Power Management Unit with Embedded Temperature Sensor Powered by Piezoelectric Vibration Energy Harvesting"; IEEE- MWSCAS 2007 (IEEE- International Midwest Symposium on Circuits and Systems); Montreal (CANADA). 2007.
  • J.COLOMER, A.SAIZ,P.MIRIBEL,J.MANYA,J.BRUFAU,M.PUIG,J.SAMITIER; "Low-Voltage Low-Power Reference Circuits for an Autonomous Robot: I-SWARM"; Proceedings of the 11th WSEAS International Conference on CIRCUITS, Agios Nikolaos, Crete Island, Greece, July 23-25, 2007
  • R. Casanova, A. Dieguez, A. Sanuy, A. Arbat, O. Alonso, J. Canals and J. Samitier, "An ultra low power IC for an autonomous mm3-sized microrobot," Proc. ASSCC'07, pp. 55-58.
  • R. Casanova, A. Sanuy, A. Dieguez and J. Samitier, "Addressing the Locomotion Problem on a mm3-sized Robot Equipped with PVDM legs," Proc. DCIS'07.
  • R. Casanova, A. Dieguez, A. Sanuy, A.; Arbat, O. Alonso, J. Canals, M. Puig and J. Samitier, "Enabling swarm behaviour in mm3-sized robots with specific designed integrated electronics," Proc. IROS'07, pp. 3797-3802.
  • R. Casanova, A. Dieguez, A. Arbat, O. Alonso, J. Canals, A. Sanuy and J. Samitier, "A 1 mW Low Power SoC for a mm3-sized Microrobot," Proc. MWSCAS'07, pp. 835 838.
  • R. Casanova, A. Dieguez, A. Arbat, A. Sanuy, O. Alonso, J. Canals, M. Puig, and J. Samitier, "A SoC for studying multi-agent software/algorithms on a real swarm of mm3-sized microrobots," Maspalomas, Gran Canaria, Spain, 2007.
  • Alonso, O.; Casanova, R.; Sanuy, A.; Dieguez, A.; Samitier, J.; "A Low Power Optical Interface for Inter-Robot Communication in a Swarm of Microrobots"; Proceedings of the 11th WSEAS International Conference on CIRCUITS, Agios Nikolaos, Crete Island, Greece, July 23-25, 2007.
  • Alonso, O.; Casanova, R.; Sanuy, A.; Arbat, A.; Canals J.; Dieguez, A.; Samitier, J.; "A Low Power IC to Enable optical Communications in a Robotic Swarm"; IEEE- MWSCAS 2007 (IEEE- International Midwest Symposium on Circuits and Systems); Montreal (CANADA). 2007.
  • Alonso,O.;Casanova,R.; Sanuy,A.; Dieguez,A.; Samitier,J.; Arbat,A.; "Interface for Short-Range Optical Communications in a swarm of mm3-sized robots"; DCIS 2007 (Conference on Design of Circuits and Integrated Systems); Sevilla (SPAIN).
  • A. Dieguez, A. Arbat, S. Sanuy, R. Casanova, M. Rossinyol and J. Samitier, "A wake-up circuit with temperature compensated clock in 1.2V-0.13um CMOS technology," Proc. ICECS'07, pp. 367-370.
  • Heinz Woern, Ramon Estana, Heiko Hamann, Marc Szymanski; "From Micro to Nano and Swarm Robotics"; Advances in Climbing and walking robots. Proceedings of 10th International Conference (CLAWAR 2007), Singapore, 16-18 July 2007.
  • Marc Szymanski, Heinz Woern; "JaMOS - A MDL2e based Operating System for Swarm Micro Robotics"; IEEE Swarm Intelligence Symposium, 2007.
  • Heiko Hamann, Marc Szymanski, Heinz Woern; "Orientation in a Trail Network by Exploiting its Geometry for Swarm Robotics"; IEEE Swarm Intelligence Symposium 2007.
  • Marc Szymanski, Tobias Breitling, Joerg Seyfried, Heinz Woern; "Distributed Shortest-Path Finding by a Micro-robot Swarm";LNCS: Ant Colony Optimization and Swarm Intelligence, 2006.
  • Joerg Seyfried, Marc Szymanski, Natalie Bender, Ramon Estana, Michael Thiel, Heinz Woern; "The I-SWARM project: Intelligent Small World Autonomous Robots for Micro-manipulation";Swarm Robotics, LNCS 3342, Springer, 2005.
  • Ramon Estana, Marc Szymanski, Natalie Bender, Joerg Seyfried; "Towards a Real Micro Robotic Swarm"; Ant Colony Optimization and Swarm Intelligence. 4th International Workshop, ANTS 2004. LNCS 3172. Springer Verlag, Berlin, Germany, 2004.
  • Joerg Seyfried, Marc Szymanski, Natalie Bender, Ramon Estana, Michael Thiel, Heinz Woern; "The I-SWARM project: Intelligent Small World Autonomous Robots for Micro-manipulation"; From Animals to Animats 8: The Eighth International Conference on the Simulation of Adaptive Behavior (SAB'04) Workshop on Swarm Robotics, 2004.
  • S. Kornienko, O. Kornienko, P. Levi, New principles of coordination in large-scale micro- and molecular-robotic groups, IARP'06 Workshop on MICRO & NANO ROBOTICS, Paris, France, 2006
  • S. Kornienko, O.Kornienko, P.Levi. Swarm embodiment - a new way for deriving emergent behaviour in artificial swarms. In: Levi, P. (ed.); et al. (ed.): Autonome Mobile Systeme (AMS'05), pp.25-32, Stuttgart, Germany, 2005
  • S. Kornienko, O. Kornienko, P. Levi. Minimalistic approach towards communication and perception in microrobotic swarms. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and System (IROS 2005), pp.4006-4011, Edmonton, Alberta, Canada, 2005
  • S. Kornienko, O. Kornienko, C. Constantinescu, M. Pradier and P. Levi. Cognitive micro-Agents: individual and collective perception in microrobotic swarm. In: Proceedings of IJCAI-05 Workshop on Agents in Real-Time and Dynamic Environment, pp.33-42, Edinburgh, Scotland, 2005
  • S. Kornienko, O. Kornienko, P. Levi. Collective AI: context awareness via communication. In: Proceedings of the Nineteenth International Joint Conference on Artificial Intelligence (IJCAI 2005), pp.1464-1470, Edinburgh, Scotland, 2005
  • S. Kornienko, O. Kornienko, P. Levi. About nature of emergent behavior in micro-systems. In: Proceedings of the International Conference on Informatics in Control, Automation and Robotics (ICINCO 2004), Setubal, Portugal, 2004
  • S. Kornienko, O. Kornienko, P. Levi, Generation of desired emergent behavior in swarm of micro-robots. In: Proceedings of the 16th European Conference on Artificial Intelligence (ECAI 2004), pp.239-243, Valencia, Spain, 2004
  • Othman W.A.F.W., Amavasai, B.P., McKibbin, S.P., Caparrelli, F. and Travis, J.R. An Analysis of Collective Movement Models for Robotic Swarms. In Proceedings of The International Conference on Computer as a Tool (EUROCON 2007), Poland, 2007, pp. 2373-2380.
  • S.P.McKibbin, B.P.Amavasai, F.Caparrelli, W.F.W.Othman, and J.R.Travis. Using PSO to Exploit Movement as a Sensory Cue in Autonomous Mobile Robots. Proceedings of the 2007 IEEE SMC UK-RI 6th Conference on Cybernetic Systems (CS2007), University College Dublin, Ireland, 6-7 September 2007.
  • Stephen Paul McKibbin, Bala Amavasai, Arul N. Selvan, Fabio Caparrelli, W.A.F.W. Othman. The Role of Sensory-Motor Coordination: Identifying Environmental Motion Dynamics with Dynamic Neural Networks. Proceedings of the International Conference on Informatics in Control, Automation & Robotics (ICINCO 2008), Funchal, Madeira (Portugal), 11-15 May 2008
  • I. Mir and B.P. Amavasai, A Fully Decentralized Approach for Incremental Perception First International Conference on Robot Communication and Coordination (RoboComm2007), Athens, Greece, 15-17 October 2007.
  • S. Momen, B.P. Amavasai , N.H. Siddique Mixed species flocking for heterogeneous robotic swarms. IEEE EUROCON 2007: The International Conference on Computer as a Tool, pp. 2329-2334, Warsaw, Poland, 9-12 September 2007.
  • N.H. Siddique and B.P. Amavasai. Bio-inspired Behaviour-based Control. Proceedings of the 2007 IEEE SMC UK-RI 6th Chapter Conference on Cybernetic Systems (CS2007), pp. 182-187, Dublin, Ireland, 6-7 Sept 2007.
  • Grigoris Lionis,Kostas J. Kyriakopoulous; Approximate Control of Formations of Multiagent systems. In IEEE Conference on Decision and Control - European Control Conference, 2005.
  • Grigoris Lionis,Kostas J. Kyriakopoulous; Centralized Motion Planning for a Group of Micro Agents Manipulating a Rigid Object. In IEEE Mediterranean Conference on Control and Automation, 2005.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; Formation Control and Collision Avoidance for Multi-Agent Systems and a Connection between Formation Infeasibility and Flocking Behavior. In IEEE Conference on Decision and Control - European Control Conference, 2005.
  • Savvas G. Loizou Kostas J. Kyriakopoulos; Navigation of Multiple Input Constraint Micro-Robotic Agents. In IEEE International Conference on Intelligent Robots and Systems, 2005.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; Decentralized Motion Control of Multiple Agents with Double Integrator Dynamics. In IFAC Conference, 2005.
  • Savvas G. Loizou Kostas J. Kyriakopoulos; Motion Planning of Piezoelectrically Driven Micro-Robots via Navigation Functions. In IEEE International Symposium on Intelligent Control, 2005.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; A Feedback Stabilization and Collision Avoidance Scheme for Multiple Independent Nonholonomic Non-point Agents. In IEEE International Symposium on Intelligent Control, 2005
  • Grigoris Lionis,Kostas J. Kyriakopoulous; Motion Planning Algorithms for a Group of Micro-Robots Carrying an Object. In IEEE International Conference on Robotics and Automation, 2005.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; Distributed cooperative control and collision avoidance for multiple kinematic agents. In IEEE Conference on Decision and Control, 2006.
  • Dimos V. Dimarogonas, Magnus Egerstedt and Kostas J. Kyriakopoulos; A Leader-based Containment Control Strategy for Multiple Unicycles. In IEEE Conference on Decision and Control, 2006.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; On the State Agreement Problem for Multiple Unicycles with Varying Communication Links. In IEEE Conference on Decision and Control, 2006.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; On the state agreement problem for multiple unicycles. In American Control Conference, 2006.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; A connection between formation control and flocking behavior in nonholonomic multiagent systems; In IEEE International Conference on Robotics and Automation, 2006.
  • Grigoris Lionis,Dimos V. Dimarogonas,Kostas J. Kyriakopoulous; Closed Loop Navigation for Multiple Micro Robots. In European Conference on Control, 2007.
  • Grigoris Lionis,Kostas J. Kyriakopoulous; PWM Control for a micro-robot moving on a discrete curvature trajectory set. In IEEE International Conference on Robotics and Automation, 2007.
  • Grigoris Lionis,Xanthi Papageorgiou,Kostas J. Kyriakopoulos; Locally Computable Navigation Functions for Sphere Worlds. In IEEE International Conference on Robotics and Automation, 2007.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; Connectivity Preserving State Agreement for Multiple Unicycles. In American Control Conference, 2007.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; An application of Rantzer's Dual Lyapunov Theorem to Decentralized Formation Stabilization. In European Conference on Control, 2007.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; An application of Rantzer's Dual Lyapunov Theorem to Decentralized Navigation. In IEEE Mediterranean Conference on Control and Automation, Athens, Greece, June 2007.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; Further results on formation infeasibility and velocity alignment. In IEEE Conference on Decision and Control, 2007.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; An Inverse Agreement Control Strategy with Application to Swarm Dispersion. In IEEE Conference on Decision and Control, 2007.
  • Grigoris Lionis,Xanthi Papageorgiou,Kostas J. Kyriakopoulos; Towards locally computable polynomial navigation functions for convex obstacle workspaces. In IEEE International Conference on Robotics and Automation, 2008.
  • Dimos V. Dimarogonas, Kostas J. Kyriakopoulos; Inverse Agreement Algorithms with Application to Swarm Dispersion for Multiple Nonholonomic Agents". In IEEE International Conference on Robotics and Automation, 2008.
  • Kim, S., Knoll, T., and Scholz, O.: "Feasibility of Inductive Communication Between MillimeterSized Robots" in Proc. The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., 2006, pp. 1178-1182.
  • Kim, S., Knoll, T., and Scholz, O.: "Feasibility of Inductive Communication Between Millimeter-Sized Wireless Robots" in Proc. IEEE Transactions on Robotics and Automation, 23, 2007, pp. 605-609.
  • A. Boletis, A. Brunette, W. Driesen, and J. M. Breguet, "Solar Cell Powering with Integrated Global Positioning System for mm3 Size Robots," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS '06, 2006, pp. 5528-5533.
  • W. Driesen, J. M. Breguet, and R. Clavel, "Novel locomotion principle for mobile micro robots," in Proc. Int. Conf. on New Actuators, ACTUATOR '06, Bremen, Germany, 2006, pp. 386-389.
  • W. Driesen, A. Rida, J. M. Breguet, and R. Clavel, "Comb drive actuator for mm3 robots and other LSRO projects at CMI," in MicroNanoFabrication Annual Review Meeting, EPFL, Lausanne, 2006.
  • W. Driesen, J. M. Breguet, and R. Clavel, "Classification of locomotion principles for micro robotics," in Workshop "Arc et Senans 2006", atelier LEA, Arc et senans, France, 2006.
  • W. Driesen, A. Rida, J.-M. Breguet, and R. Clavel, "Friction based locomotion module for mobile MEMS robots," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS '07, San Diego, CA, 2007, pp. 3815-3820.
  • M. Hartbauer; "Realistic simulation of an insect chorus based on coupled song oscillators". In Proceedings to Eurosim 2007 (2007)
  • M. Hartbauer; "Finding the right place: Contribution of spacing to the attractiveness of males in an insect aggregation". eds.: I. Troch, F. Breitenecker ; ARGESIM Report no. 35, 1-12, (2009)

    • Posters on conferences

  • Szopek, Martina; Radspieler, Gerald; Schmickl, Thomas; Thenius, Ronald; Crailsheim, Karl: Recording and tracking of locomotion and clustering behaviourin young honeybees (Apis mellifera), fuer: Measuring Behavior 2008, 2008.
  • Radspieler, Gerald; Thenius, Ronald; Schmickl, Thomas; Crailsheim, Karl: Behaviour of honeybees in a two-dimensional temperature gradient., fuer: 20th meeting of the German section of the IUSSI,, 2007.
  • E. Edqvist, N. Snis, "Batch wise electrode contact establishment and polarisation of a locomotion module for a millimeter sized micro robot", presented at SPIE Smart structures and Materials-EAPD, San Diego, 2008.
  • E. Edqvist, N. Snis, and S. Johansson, "Sammansaetning av en millimeter stor mass producerbar mikrorobot",presented at MSW 2008, Gothenburg, 2008.
  • N. Snis, E. Edqvist, U. Simu, and S. Johansson, "Monolithic Multilayer P(VDF-TrFE) Resonators," presented at Actuator 2006, Bremen, 2006.

    • Seminars and talks

  • M. Boissenin, B.P. Amavasai, J. Wedekind and R. Saatchi Shape information: using state space to decimate templates BMVA Symposium on Shape Representation, Analysis and Perception, London, 5 November 2007.
  • I. Mir and B.P. Amavasai A Fully Decentralized Approach for Incremental Perception First International Conference on Robot Communication and Coordination (RoboComm2007), Athens, Greece, 15-17 October 2007.
  • S. Momen, B.P. Amavasai, N.H. Siddique Mixed species flocking for heterogeneous robotic swarms. IEEE EUROCON 2007: The International Conference on Computer as a Tool, pp. 2329-2334, Warsaw, Poland, 9-12 September 2007.
  • N.H. Siddique and B.P. Amavasai. Bio-inspired Behaviour-based Control. Proceedings of the 2007 IEEE SMC UK-RI 6th Chapter Conference on Cybernetic Systems (CS2007), pp. 182-187, Dublin, Ireland, 6-7 Sept 2007.
  • D. Diaper, C. Huyck, B.P. Amavasai, X. Cheng, and M. Oussalah Intelligently Engineering Artificial Intelligence Engineering: The Cognitive Architectures Competition. 22nd Conference on Artificial Intelligence (AAAI-07). Evaluating Architectures for Intelligence Workshop, Technical Report WS-07-04, ISBN 978-1-57735-331-7, pp. 23-26, Vancouver, Canada, 22-26 July 2007.
  • L. Alboul, B.P. Amavasai, G. Chliveros and J. Penders. Mobile robots for information gathering in a large-scale fire incident. Proceedings of the 2007 IEEE SMC UK-RI 6th Chapter Conference on Cybernetic Systems (CS2007), pp. 122-127, Dublin, Ireland, 6-7 Sept 2007.
  • S.P. McKibbin, B.P. Amavasai, F. Caparrelli, W.F.W. Othman and J.R. Travis Using PSO to Exploit Movement as a Sensory Cue in Autonomous Mobile Robots Proceedings of the 2007 IEEE SMC UK-RI 6th Chapter Conference on Cybernetic Systems (CS2007), pp. 152-157, Dublin, Ireland, 6-7 Sept 2007.
  • J. Penders. Search and Rescue Robots are Information Gatherers. Proceedings ISMCR 2007, June 2007, Warsaw, pp 25-30.

    • Public media

  • Crailsheim, Karl; Schmickl, Thomas: Fleissige Bienen-Vorbild fuer Roboter, Weekend, Printmedium, 15.06.2008.

    • DELIVERABLES

    --- 2005 ---

  • D1.1-1 Swarm robots: actuation and locomotion principles, on-board circuitry and high density assembly
  • D1.1-2 Evaluation of different actuator principles and study of locomotion principles
  • D1.2 Towards wireless swarm robots (on-board power and wireless power transfer)
  • D1.4 Swarm communication (including integration onto the robot clients)
  • D1.5 Simple tools: Design and manufacturing considerations taking into account mass fabrication
  • D2.1 Swarm perception: sensor types, morphological table of sensor principles. From modelling, sensor fusion to task recognition and collective perception
  • D2.1-1 Navigation system
  • D3.1 Control strategies; from insect behaviour to massive perceptive multi agent systems
  • D3.2 Simulation platforms for insect swarms and multi agent systems and a micro handling expert system
  • D3.3 Hardware embedding of statistical learning systems
  • D4.1 Definition of tests according to the overall task
  • D4.2 Report from the micro world; actio, reactio, interactions and simulations towards an expert system
  • D4.3 Test definitions for the robot swarm
  • D8.1 Project presentation
  • D8.2 Plan for disseminating knowledge
  • D8.3 First periodic activity report
  • D9.0 Sate of the art for the respective sub-topics

    • --- 2006 ---

  • D1.1-1 Swarm robots: actuation and locomotion principles, on-board circuitry and high density assembly
  • D1.1-2 Evaluation of different actuator principles and study of locomotion principles
  • D1.2 Towards wireless swarm robots (board and wireless power transfer)
  • D1.4 Swarm communication (including integration onto the robot clients
  • D1.5 Simple tools: Design and manufacturing considerations taking into account mass fabrication
  • D2.1 Swarm perception: sensor types, morphological table of sensor principles. From modelling, sensor fusion to task recognition and collective perception
  • D2.1-1 Navigation system
  • D3.1 Control strategies: from insect behaviour to massive perceptive multiagent systems
  • D3.2 Simulation platforms for insect swarms and multi agent systems and a microhandling expert system
  • D3.3 Hardware embedding of statistical learning systems
  • D4.1 Test definitions, revised version
  • D4.2 Report from the micro world: action, reaction, interactions and simulations towards an expert system (canceled )
  • D5.1-1 Description of integrated locomotion module
  • D5.2 Description of integrated power module
  • D5.3 Description of integrated electronics module
  • D5.4-2 Detection of task-dependent requirements for communications
  • D5.4-4 Description of integrated communication module
  • D5.5 Description of tools
  • D5.6-1 Detection of task-dependent requirements for sensors
  • D5.6-2 Description of sensors
  • D8.4 Second periodic activity report

    • --- 2007 ---

  • D5-2 Hardware integration: Describes the integration of the robot and especially the assembly process
  • D5-4 Energy storage module prototype: Describes the design, fabrication and performance
  • D5-8 Prototype of onboard electronics: Describes the design and performance of the test chips and the prototype sent for fabrication
  • D5-10 Locomotion module prototype: Describes the design, fabrication and performance
  • D5-12 Robot-to-robot communication: Protocol defining communication on the physical and lower level
  • D5-13 Perception: Describes the robot capability to monitor surroundings through IR
  • D5-14 IR-module prototype: Describes the design, fabrication and performance
  • D5-16 Vibrating contact sensor prototype: Describes the design, fabrication and performance
  • D5-18 Revised Prototype Arena: Describes the design, fabrication and performance
  • D5-20 Reports on the results of the tests available for next run: - Test chip2 - First real size solar cells - possibly dummies for IR and locomotion modules - ASIC prototype - Solar cells - IR - locomotion - Contact sensor
  • D6.1 Algorithms and simulations for Collective Perception
  • D6.2-1 Framework for learning and Self-Organisation
  • D6.2-2 Behaviour Based Learning
  • D6.2-3 Homestasis Control for Swarms
  • D6.2-4 Evaluation Results
  • D6.3 Algorithms and simulations
  • D8.4 Third periodic activity report

    • --- 2008 ---

  • D5-1 I-Swarm robot specification: D5-1 is the final result of working document that summarizes the specifications, including the performance of the robot hardware
  • D5-3 Fabrication of robot swarm: Reports the integration and fabrication of the 40-100 robots
  • D5-5 I-Swarm energy storage module: Describes the design, fabrication and performance of the final energy storage module
  • D5-6 40-100 Solar cell prototypes: Describes the design, fabrication and performance
  • D5-9 I-Swarm onboard electronics: Describes the design and performance of the final electronics
  • D5-11 I-Swarm locomotion module: Describes the design, fabrication and performance of the final locomotion module
  • D5-15 I-Swarm IR-module: Describes the design, fabrication and performance of the final IR-module
  • D5-19 Final I-Swarm arena: Describes the design, fabrication and performance of the final arena
  • D5-21 Reports on the testing of modules accepted for integration
  • D5-22 Vibrating contact sensor prototype demonstrator: Describes the design, fabrication and performance
  • D6.0-1 Breve simulation model of the I-Swarm robot
  • D6.0-3 Control Theoretic Evaluation Criteria for selected swarm scenario
  • D6.0-4 Evaluation of DNF schemes based on Measurement Criteria
  • D6.2-4 Evaluation results
  • D6.2-5 Implementation of I-Swarm scenarios
  • D6.2-9 Feasibility of DNF implementation in general purpose uP
  • D6.4-2 Low level abstraction layer
  • D8.5-1 Detailed task plan for the first integration workshop
  • D8.5-2 Workshop summary
  • D8.5-3 Detailed task plan for the first integration workshop
  • D8.5-4 Workshop summary
  • D8.6 Fourth periodic activity report

 

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Project started on 1.1.2004       Project terminated on 31.6.2008       Last modified: 25.03.2008