Outputs (31)

Self-assembly in heterogeneous modular robots (2012)
Presentation / Conference Contribution

This paper describes the distributed self-assembly of a multi-robot ‘organism’ from a swarm of autonomous heterogeneous modular mobile robots. A distributed self-assembly strategy based on a symbol sequence representation is proposed. Constructed fro... Read More about Self-assembly in heterogeneous modular robots.

Autonomous morphogenesis in self-assembling robots using IR-based sensing and local communications (2010)
Presentation / Conference Contribution

This paper presents a simple decentralised morphology control mechanism for a swarm of self-assembling robots. Each robot in the system is fully autonomous and controlled using a behaviour-based approach with only infrared-based local sensing and com... Read More about Autonomous morphogenesis in self-assembling robots using IR-based sensing and local communications.

Safety control architecture for personal robots: Behavioural suppression with deliberative control (2010)
Presentation / Conference Contribution

This paper presents a novel robot control architecture for use with personal robots, and argues its potential for improving the safety of these types of system, when compared to existing approaches. The proposed architecture design separates the cont... Read More about Safety control architecture for personal robots: Behavioural suppression with deliberative control.

A macroscopic probabilistic model of adaptive foraging in swarm robotics systems (2009)
Presentation / Conference Contribution

In this paper, we extend a macroscopic probabilistic model of a swarm of foraging robots from the homogeneous to the heterogeneous case. In the swarm, each robot is capable of adjusting its searching time and resting time thresholds following the rul... Read More about A macroscopic probabilistic model of adaptive foraging in swarm robotics systems.

A feasibility study for energy autonomy in multi robot search and rescue operations (2008)
Presentation / Conference Contribution

This paper proposes a novel search and rescue concept that aims to overcome the most basic obstacle in utilising a search and rescue teleoperated robot for a long distance energy autonomy. The concept utilizes a number of small robots capable of crea... Read More about A feasibility study for energy autonomy in multi robot search and rescue operations.

Designing intelligent control systems for safety critical applications (2006)
Presentation / Conference Contribution

This paper presents a design methodology for behaviour-based intelligent control systems, which we argue is suited to safety critical applications. The methodology has a formal basis, and uses dynamical systems theory to prove system safety propertie... Read More about Designing intelligent control systems for safety critical applications.

Towards the application of swarm intelligence in safety critical systems (2006)
Presentation / Conference Contribution

Swarm Intelligence provides us with a powerful new paradigm for building fully distributed de-centralised systems in which overall system functionality emerges from the interaction of individual agents with each other and with their environment. Such... Read More about Towards the application of swarm intelligence in safety critical systems.

Towards dependable swarms and a new discipline of swarm engineering (2005)
Presentation / Conference Contribution

This review paper sets out to explore the question of how future complex engineered systems based upon the swarm intelligence paradigm could be assured for dependability. The paper introduces the new concept of 'swarm engineering': a fusion of depend... Read More about Towards dependable swarms and a new discipline of swarm engineering.

Towards dependable swarms and new discipline of swarm engineering (2004)
Presentation / Conference Contribution

The original shorter paper was given as an invited talk at the SAB '04 workshop on Swarm Robotics. Selected papers were invited to be extended and following further full review were published in this volume in the highly-regarded 'state of the art re... Read More about Towards dependable swarms and new discipline of swarm engineering.

Direct Lyapunov design - A synthesis procedure for motor schema using a second-order Lyapunov stability theorem (2002)
Presentation / Conference Contribution

In this paper we propose a new procedure for construction of motor schema typically used in behaviour-based robotics. The procedure reverses the standard stability analysis approach by searching for a control function to fit a pre-defined Lyapunov f... Read More about Direct Lyapunov design - A synthesis procedure for motor schema using a second-order Lyapunov stability theorem.