000152000 001__ 152000
000152000 005__ 20190509132331.0
000152000 0247_ $$2doi$$a10.5075/epfl-thesis-4875
000152000 02470 $$2urn$$aurn:nbn:ch:bel-epfl-thesis4875-6
000152000 02471 $$2nebis$$a6163666
000152000 037__ $$aTHESIS
000152000 041__ $$afre
000152000 088__ $$a4875
000152000 245__ $$bune étude mécatronique$$aRobotique collective et auto-assemblage
000152000 269__ $$a2010
000152000 260__ $$bEPFL$$c2010$$aLausanne
000152000 300__ $$a190
000152000 336__ $$aTheses
000152000 520__ $$aWe present a study of collective robotics by including a mechatronics point of view. In the field it is usually claimed that collective robots are simple and relatively cheap because they are produced in large quantities. Instead in our study we show that collective robots are not simple because they need sensors and actuators for additional work. Our experience in designing robots and producing them allows us to analyze the manufacturing costs of different collective robots . We present in this work four robots developed prior and during to this thesis. Chapter 2 concerns the e-puck robot. This is a robot designed for education, however, it is used in research to experiment collective behaviors. The s-bot robot is presented in Chapter 3. This is a robot that has the collective ability to self-assemble to form larger structures and increase its performance. In Chapter 4 we present the marXbot robot. It is a modular robot developed in the laboratory to meet the needs of different research hubs. One of its modules allows it to self-assemble with its teammates and with the robot handbot presented in Chapter 5. The handbot is a robot that can climb and handle objects. It can climb for example a shelf to grasp a book. On the ground it is transported by marXbot. In Chapter 6 the performance of robots are presented. We expose a study of their performance gain when the robots are self-assembled. Finally we compare in Chapter 7 the four robots from the mechatronics point of view and in respect to their cost.
000152000 6531_ $$aautonomous mobile robot
000152000 6531_ $$acollective
000152000 6531_ $$aself-assembly
000152000 6531_ $$amechatronics
000152000 6531_ $$amodular
000152000 6531_ $$ahandling
000152000 6531_ $$aclimbing
000152000 6531_ $$acost
000152000 6531_ $$acomplexity
000152000 6531_ $$arobot mobile autonome
000152000 6531_ $$acollectif
000152000 6531_ $$aauto-assemblage
000152000 6531_ $$amécatronique
000152000 6531_ $$amodulaire
000152000 6531_ $$amanipulation
000152000 6531_ $$agrimpe
000152000 6531_ $$acoût
000152000 6531_ $$acomplexité
000152000 700__ $$0241015$$g120088$$aBonani, Michael
000152000 720_2 $$aMondada, Francesco$$edir.$$g102717$$0240589
000152000 8564_ $$uhttps://infoscience.epfl.ch/record/152000/files/EPFL_TH4875.pdf$$zTexte intégral / Full text$$s75831322$$yTexte intégral / Full text
000152000 909C0 $$0252016$$pLSRO
000152000 909CO $$pSTI$$pthesis$$pthesis-bn2018$$pDOI$$ooai:infoscience.tind.io:152000$$qDOI2$$qGLOBAL_SET
000152000 918__ $$dEDPR$$cIMT$$aSTI
000152000 919__ $$aLSRO1
000152000 920__ $$b2010
000152000 970__ $$a4875/THESES
000152000 973__ $$sPUBLISHED$$aEPFL
000152000 980__ $$aTHESIS