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We introduce a framework, called " physicomimetics, " that provides distributed control of large collections of mobile physical agents in sensor networks. The agents sense and react to virtual forces, which are motivated by natural physics laws. Thus, physicomimetics is founded upon solid scientific principles. Furthermore, this framework provides an(More)
—By combining static input–output decoupling transformations with hexapod geometric design, the highly coupled dynamics of a flexure jointed hexapod can be decoupled. Several algorithms have been proposed which result in different sets of decou-pled inputs and outputs, and which can use a variety of feedback measurements (position, velocity, acceleration,(More)
In robotic swarms, each robot in the swarm needs to know the relative locations of its neighboring robots in order to maintain a safe and appropriate distance. The purpose of this project is to design and implement a localization system for use by robots in swarms. The robots will take turns " pinging " (i.e. simultaneously transmitting a radio pulse and an(More)
The ability of robots to quickly and accurately localize their neighbors is extremely important for robotic teams. Prior approaches typically rely either on global information provided by GPS, beacons and landmarks, or on complex local information provided by vision systems. In this paper we describe our trilateration approach to multi-robot localization,(More)
—Teams of autonomous cooperating vehicles are well-suited for meeting the challenges associated with mobile marine sensor networks. Swarms built using a physicomimetics approach exhibit predictable behavior – an important benefit for extended duration deployments of autonomous ocean platforms. By using a decentralized control framework, we minimize energy(More)
– Fourier concepts for describing the frequency content of signals permeate contemporary engineering and science. The introduction of Fourier series and transforms, as well as discretization and sampling topics, is seen by many educators to be essential for providing the next generation of engineers with a foundation for better understanding the systems(More)
This paper describes the hardware architecture of a swarm of inexpensive, mobile robots designed and implemented at the University of Wyoming Distributed Robotics Laboratory. The first issue addressed is the trilateration method used for localization. Then we show how this theory is implemented using electronic hardware. Aside from trilateration, the other(More)