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conference paper

Real-Time Automated Modeling and Control of Self-Assembling Systems

Mermoud, Grégory  
•
Mastrangeli, Massimo  
•
Upadhyay, Utkarsh  
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2012
Proceedings of the 2012 IEEE International Conference on Robotics and Automation
2012 IEEE International Conference on Robotics and Automation

We present the M3 framework, a formal and generic computational framework for modeling and controlling distributed stochastic systems of purely reactive robots in an automated and real-time fashion. Based on the trajectories of the robots, the framework builds up an internal microscopic representation of the system, which then serves as a blueprint of models at higher abstraction levels. These models are then calibrated using a Maximum Likelihood Estimation (MLE) approach. We illustrate the structure and performance of the framework by performing the online optimization of a simple bang-bang controller for the stochastic self-assembly of water- floating passive robots. The experimental results demonstrate that the generated models can successfully optimize the assem- bly of desired structures.

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GM_ICRA12.pdf

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Postprint

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http://purl.org/coar/version/c_ab4af688f83e57aa

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openaccess

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CC0

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1.41 MB

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Adobe PDF

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b12c751b2183f77a0020587d7f6bc29c

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