Mechanism Design for Robotics

Design Strategies for Evolutionary Robotics

i Acknowledgments First and foremost, I would like to thank my thesis advisor, Sushil J. Louis, for guiding my research virtually every step of the way. It was he who got me interested in GAs and Evolutionary Robotics in the rst place, as well as helped me improve my structured programming skills. Without his support and guidance this thesis would not have been possible. In addition, his work w...

Property-driven design for swarm robotics

In this paper, we propose a novel top-down design method for the development of collective behaviors of swarm robotics systems called property-driven design. Swarm robotics systems are usually designed and developed using a code-and-fix approach, that is, the developer devises, tests and modifies the individual robot behaviors until a desired collective behavior is obtained. The code-and-fix ap...

Towards Boolean Network Design for Robotics Applications

Boolean Networks metaheuristics robotics Acknowledgements First of all, I would like to thank Andrea Roli, who has offered me the possibility to undertake this work and for being always very kind and helpful. I would like to thank also Marco Dorigo for giving me the possibility to work in IRIDIA and Mauro Birattari for his advices and support. Thanks also to Carlo Pinciroli, who has always supp...

Design principles for biologically inspired cognitive robotics

A Design for Dimensional Analysis in Robotics

Robot programs typically manage a substantial amount of dimensioned data. However, existing robot programming tools do not directly support the description and manipulation of dimensioned quantities. A new system is presented for managing dimensioned data in robot software. The design requirements are described, along with a prototype design for object– oriented languages. An initial evaluation...