Omni-pi-tent: an omnidirectional modular robot with genderless docking

Robert H. Peck*, Jon Timmis, Andy M. Tyrrell

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Proceeding (Non-Journal item)

6 Citations (SciVal)


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.

Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings
EditorsKaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
PublisherSpringer Nature
Number of pages12
ISBN (Print)9783030253318
Publication statusPublished - 2019
Event20th Towards Autonomous Robotic Systems Conference, TAROS 2019 - London, United Kingdom of Great Britain and Northern Ireland
Duration: 03 Jul 201905 Jul 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11650 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference20th Towards Autonomous Robotic Systems Conference, TAROS 2019
Country/TerritoryUnited Kingdom of Great Britain and Northern Ireland
Period03 Jul 201905 Jul 2019


  • Genderless docking
  • Modular robot
  • Modular self-reconfigurable robots
  • Omni-Pi-tent
  • Self-reconfigurable
  • Swarm robot

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