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Collective behavior based on self-organization has been shown in group-living animals from insects to vertebrates. These findings have stimulated engineers to investigate approaches for the coordination of autonomous multirobot systems based on self-organization. In this experimental study, we show collective decision-making by mixed groups of cockroaches(More)
This thesis is about modelling, design and control of Miniature Flying Robots (MFR) with a focus on Vertical TakeOff and Landing (VTOL) systems and specifically, micro quadrotors. It introduces a mathematical model for simulation and control of such systems. It then describes a design methodology for a miniature rotorcraft. The methodology is subsequently(More)
The pheromone trail laying and trail following behaviors of ants have proved to be an efficient mechanism to optimize path selection in natural as well as in artificial networks. Despite this efficiency, this mechanism is under-used in collective robotics because of the chemical nature of pheromones. In this paper we present a new experimental setup which(More)
— This paper presents a detailed characterization of the Hokuyo URG-04LX 2D laser range finder. While the sensor specifications only provide a rough estimation of the sensor accuracy, the present work analyzes issues such as time drift effects and dependencies on distance, target properties (color, brightness and material) as well as incidence angle. Since(More)
S u m m ar y. This paper describes a novel solution to a mobile climbing robot on magnetic wheels, designed for inspecting the interior surfaces in gas tanks made out of thin metal sheets. These surfaces were inaccessible by previous climbing robots due to the following restrictions: 1. Ridges, where the magnetic force decreases to almost zero 2. Angular(More)
— This paper describes a novel magnetic wheel unit integrating a mechanism that can be used for lifting and stabilizing the unit. The mechanism consists of 2 active lever arms mounted on each side of the wheel and rotating coaxially with the wheel. This mechanism allows slightly lifting the magnetic wheel at any desired position on the wheel circumference(More)
— This paper describes a compact robot with two magnetic wheels in a bicycle arrangement, which is intended for inspecting the inner casing of pipes with complex shaped structures. The locomotion concept is based on an adapted magnetic wheel unit integrating two lateral lever arms. These arms allow for slightly lifting off the wheel in order to locally(More)
An ever-growing infrastructure, including existing and newly built power plants, as well as a rising environmental awareness in society call for inspection and maintenance systems of high efficiency. A solution can be found in the development of mobile agents to provide assistive inspection tools with improved autonomy. In collaboration with industry the(More)