Benoît Piranda

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This paper describes the design, prototyping and control of a 2D modular and self-reconfigurable robot for conveying microparts. The elementary block is designed to have a package dimension under 1 cm<sup>3</sup> and will include the actuators, the electronics and the micro-controller. Electropermanent (EP) magnets are used for both the linkage and the(More)
The rise of the Internet of Things raises many challenges among which is the ability to efficiently simulate a real 3D environment with intelligent objects able to sense and act. Furthermore, the apparition of micro-objects able to communicate forces such as a simulator to scale up in the number of simulated nodes. In this paper, we report the progresses(More)
Over the last decades, research on microelectromechanical systems (MEMS) has focused on the engineering process which has led to major advances. Future challenges will consist in adding embedded intelligence to MEMS systems to obtain distributed intelligent MEMS. One intrinsic characteristic of MEMS is their ability to be mass-produced. This, however, poses(More)
A distributed algorithm is proposed in order to control block motion of a reconfigurable micro-electro-mechanical modular surface. The modular surface is designed to convey fragile and tiny micro-parts. The distributed algorithm solves a discrete trajectory optimization problem. In particular, the algorithm computes the shortest path between two points of(More)
In this paper, we propose the Modular Robot Time Protocol (MRTP), a network-wide time synchronization protocol for modular robots. Our protocol achieves its performance by combining several mechanisms: central time master election, low-level time-stamping and clock skew compensation using linear regression. We evaluate our protocol on the Blinky Blocks(More)
Modular robots are composed of many independent connected modules which are able to achieve common goals through communications. Many distributed algorithms have better performance if the modules that have to communicate with all the others, are placed at the center of the system. In this paper, we propose ABC-Center, an iterative algorithm for electing an(More)
A modular robots is composed of many independent connected modules which are able to achieve common goals through communications. A modular self-reconfigurable robot can move and reorganize its modules to modify its shape. In this paper, we consider a modular self-reconfigurable robot made from cubic modules (blocks) that are able to slide along their(More)