@inproceedings{d413a3dc24344a6288e40e06254ef652,
title = "Omni-pi-tent: an omnidirectional modular robot with genderless docking",
abstract = "This paper presents the design and development of Omni-Pi-tent, a self-reconfigurable modular robot capable of self-repair during continuous motion. This paper outlines the design features necessary for Dynamic Self-repair experiments and how the design of Omni-Pi-tent implements them, we summarise the construction of the first prototype and discuss initial experiments testing some of its key sensors and actuators. In addition, the paper describes experiments in which empirical data from laboratory tests of sensor hardware was integrated into V-REP simulations by means of creating custom sensor models so as to reduce the reality gap.",
keywords = "Genderless docking, Modular robot, Modular self-reconfigurable robots, Omni-Pi-tent, Self-reconfigurable, Swarm robot",
author = "Peck, {Robert H.} and Jon Timmis and Tyrrell, {Andy M.}",
note = "Funding Information: Acknowledgments. The authors would like to thank Mark Hough for introducing R.H. Peck to PCB design software and principles, and EPSRC for funding R.H. Peck{\textquoteright}s studentship. Publisher Copyright: {\textcopyright} Springer Nature Switzerland AG 2019.; 20th Towards Autonomous Robotic Systems Conference, TAROS 2019 ; Conference date: 03-07-2019 Through 05-07-2019",
year = "2019",
doi = "10.1007/978-3-030-25332-5_27",
language = "English",
isbn = "9783030253318",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Nature",
pages = "307--318",
editor = "Kaspar Althoefer and Jelizaveta Konstantinova and Ketao Zhang",
booktitle = "Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings",
address = "Switzerland",
}