Self-reconfigurable modular e-pucks

Lachlan Murray*, Jon Timmis, Andy Tyrrell

*Corresponding author for this work

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

3 Citations (SciVal)


We present the design of a new structural extension for the e-puck mobile robot. The extension may be used to transform what is a swarm robotics platform into a self-reconfigurable modular robotic system. As a proof of concept, we present an algorithm for controlling the collective locomotion of a group of e-pucks that are equipped with the extension. Our approach proves itself to be an effective method of coordinating the movement of a group of physically connected e-pucks. Furthermore, the system shows robustness in its ability to self-reconfigure and self-assemble following a disruption which alters the group's structure.

Original languageEnglish
Title of host publicationSwarm Intelligence - 8th International Conference, ANTS 2012, Proceedings
PublisherSpringer Nature
Number of pages12
ISBN (Print)9783642326493
Publication statusPublished - 2012
Event8th International Conference on Swarm Intelligence, ANTS 2012 - Brussels, Belgium
Duration: 12 Sept 201214 Sept 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7461 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference8th International Conference on Swarm Intelligence, ANTS 2012
Period12 Sept 201214 Sept 2012

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