Christiaan J. J. Paredis

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In this article, we present the design of a team of heterogeneous, centimeter-scale robots that collaborate to map and explore unknown environments. The robots, called Millibots, are configured from modular components that include sonar and IR sensors, camera, communication, computation, and mobility modules. Robots with different configurations use their(More)
One of the most important parameters to consider when designing a manipulator is the number of degrees-of-freedom (DOFs). This article focuses on the question: How many DOFs are necessary and sufficient for fault tolerance and how should these DOFs be distributed along the length of the manipulator? A manipulator is fault tolerant if it can complete its(More)
A rapidly deployable manipulator system combines the flexibility of reconfigurable modular hardware with modular programming tools, allowing the user to rapidly create a manipulator which is custom-tailored for a given task. This article describes two main aspects of such a system, namely, the Reconfigurable Modular Manipulator System (RMMS) hardware and(More)
As robots enter the human environment and come in contact with inexperienced users, they need to be able to interact with users in a multi-modal fashion—keyboard and mouse are no longer acceptable as the only input modalities. This paper introduces a novel approach to program a robot interactively through a multi-modal interface. The key characteristic of(More)
To focus on the research issues surrounding collabora-tive behavior in multiple mobile-robotic systems, a great amount of low-level infrastructure is required. To facilitate our ongoing research into multi-robot systems, we have developed RAVE, a software framework that provides a Real And Virtual Environment for running and managing multiple heterogeneous(More)
This article introduces the concept of combining both form (CAD models) and behavior (simulation models) of mechatronic system components into component objects. By connecting these component objects to each other through their ports, designers can create both a system-level design description and a virtual prototype of the system. This virtual prototype,(More)
System development and integration with a sufficient maturity at entry into service is a competitive challenge in the aerospace sector. With the ever-increasing complexity of products, this can only be achieved using efficient model-based techniques for system design as well as for system testing. However, natural language requirements engineering is an(More)
This paper presents a distributed planning and control architecture for autonomous Multi-Manipulator Systems (MMS). The control architecture is implemented using an agent-based approach. A team of distributed and autonomous agents is deployed to model the flexible assembly system in such a way that the agents negotiate, collaborate, and cooperate to achieve(More)