10 accepted papers
Spherical Modular Self-reconfigurable Robots (SMSRs) have been popular in recent years. Their Self-reconfigurable nature allows them to adapt to different en-vironments and tasks, and achieve what a single module could not achieve. To collaborate with each other, relative localization between each m
Freeform modular self-reconfigurable robot (MSRR) systems overcome traditional docking limitations, enabling rapid and continuous connections between modules in any direction. Recent advancements in freeform MSRR technology have significantly enhanced connectivity and mobility. However, limitations
Energy sharing among modular robots enables sustainable operation of the system by maintaining energy balance among the modules. In this paper, we propose a novel energy sharing mechanism for FreeSN, a modular self-reconfigurable robot consisting of node and strut modules. Utilizing the feature that…
Collaborative localization (CL) has garnered substantial attention in the field of robotics in recent years. Nonetheless, conventional CL algorithms have faced challenges when dealing with practical issues such as spurious sensor data and limited or discontinued observation and communication in real…
Energy sharing in modular self-reconfigurable robots ensures the energy balance of the modules, thus allowing the system to work sustainably. This paper proposes an energy sharing mechanism for a novel modular self-reconfigurable robot that allows free connections among modules, termed as FreeBOT, s…
This paper proposes a novel freeform strut-node structured modular self-reconfigurable robot (MSRR) called FreeSN, consisting of strut and node modules. A node module is mainly a low-carbon steel spherical shell. A strut module contains two freeform connectors, which provide strong magnetic connecti…
As vision based perception methods are usually built on the normal light assumption, there will be a serious safety issue when deploying them into low light environments. Recently, deep learning based methods have been proposed to enhance low light images by penalizing the pixel-wise loss of low lig
Modular self-reconfigurable robotic (MSRR) systems are potentially more robust and more adaptive than conventional systems. Following our previous work where we proposed a freeform MSRR module called FreeBOT, this paper presents a novel configuration detection system for FreeBOT using a magnetic sen…
This paper proposes a novel modular selfreconfigurable robot (MSRR) "FreeBOT", which can be connected freely at any point on other robots. FreeBOT is mainly composed of two parts: a spherical ferromagnetic shell and an internal magnet. The connection between the modules is genderless and instant, si…
In this paper, the 2D robot-to-robot relative pose (position and orientation) estimation problem based on ego-motion and noisy distance measurements is considered. We address this problem using an optimization-based method, which does not require complicated numerical analysis while yields no inferi…