Distributed Autonomous Robotic Systems pp 585-595

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 83) | Cite as

Physical Interactions in Swarm Robotics: The Hand-Bot Case Study

  • Michael Bonani
  • Philippe Rétornaz
  • Stéphane Magnenat
  • Hannes Bleuler
  • Francesco Mondada

Abstract

This paper presents a case-study on the performance achieved by the mechanical interactions of self-assembling mobile robots. This study is based on the hand-bot robot, designed to operate within heterogeneous swarms of robots. The hand-bot is specialized in object manipulation and can improve its performance by exploiting physical collaborations by self-assembling with other hand-bots or with foot-bots (ground robots). The paper analyzes the achieved performance and demonstrates the highly super-linear properties of the accessible volume in respect to the number of robots. These extremely interesting performances are strongly linked to the self-assembling mechanisms and the physical nature of the interaction, and do not scale to a large number of robots. Finally, this study suggests that such interesting properties are more accessible for heterogeneous systems or devices achieving complex tasks.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Michael Bonani
    • 1
  • Philippe Rétornaz
    • 1
  • Stéphane Magnenat
    • 2
  • Hannes Bleuler
    • 1
  • Francesco Mondada
    • 1
  1. 1.Laboratoire de Sytèmes RobotiquesEcole Polytechnique Fédérale de LausanneLausanneSwitzerland
  2. 2.Autonomous System LabETH ZurichZurichSwitzerland

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