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Claytronics Group Publications Listed by Topic

 
Actuation
Analysis and Modeling of Capacitive Power Transfer in Microsystems
Mustafa Emre Karagozler, Seth Copen Goldstein, and David S. Ricketts. Circuits and Systems I: Regular Papers, IEEE Transactions on, 59(7):1557 –1566,July, 2012.
Electrostatic actuation and control of micro robots using a post-processed high-voltage SOI CMOS chip
Mustafa Emre Karagozler, A. Thaker, Seth Copen Goldstein, and David S. Ricketts. In Circuits and Systems (ISCAS), 2011 IEEE International Symposium on, ():2509 –2512,May, 2011.
Collective Actuation
Jason D. Campbell and Padmanabhan Pillai. International Journal of Robotics Research, 27(3-4):299–314,2008.
A Modular Robotic System Using Magnetic Force Effectors
Brian Kirby, Burak Aksak, Seth Copen Goldstein, James F. Hoburg, Todd C. Mowry, and Padmanabhan Pillai. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07), October, 2007.
Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots
Mustafa Emre Karagozler, Jason D. Campbell, Gary K. Fedder, Seth Copen Goldstein, Michael Philetus Weller, and Byung W. Yoon. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07), October, 2007. See karagozler-msreport07.
Harnessing Capacitance for Inter-Robot Latching, Communication, and Power Transfer
Mustafa Emre Karagozler. Master's Thesis, Carnegie Mellon University, May, 2007. Also appeared as Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots in IROS '07.
Locomotion of Miniature Catom Chains: Scale Effects on Gait and Velocity
David Johan Christensen and Jason D. Campbell. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '07), pages 2254–2260, April, 2007.
Collective Actuation
Jason D. Campbell and Padmanabhan Pillai. In RSS 2006 Workshop on Self-Reconfigurable Modular Robots, August, 2006.
Adhesion
Analysis and Modeling of Capacitive Power Transfer in Microsystems
Mustafa Emre Karagozler, Seth Copen Goldstein, and David S. Ricketts. Circuits and Systems I: Regular Papers, IEEE Transactions on, 59(7):1557 –1566,July, 2012.
A Modular Robotic System Using Magnetic Force Effectors
Brian Kirby, Burak Aksak, Seth Copen Goldstein, James F. Hoburg, Todd C. Mowry, and Padmanabhan Pillai. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07), October, 2007.
Adhesion Behavior of Vertical and Aligned Polymer Microfibers
M.P. Murphy, Burak Aksak, and Metin Sitti. In Proceedings of Adhesion Society Symposium, February, 2007.
Adhesion and Anisotropic Friction Enhancements of Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips
M.P. Murphy, Burak Aksak, and Metin Sitti. Journal of Adhesion Science and Technology, 2007.
Adhesion of Biologically Inspired Vertical and Angled Polymer Microfiber Arrays
Burak Aksak, M.P. Murphy, and Metin Sitti. Langmuir, 23(6):3322–32,February, 2007.
Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots
Mustafa Emre Karagozler, Jason D. Campbell, Gary K. Fedder, Seth Copen Goldstein, Michael Philetus Weller, and Byung W. Yoon. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07), October, 2007. See karagozler-msreport07.
Harnessing Capacitance for Inter-Robot Latching, Communication, and Power Transfer
Mustafa Emre Karagozler. Master's Thesis, Carnegie Mellon University, May, 2007. Also appeared as Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots in IROS '07.
Movement Primitives for an Orthogonal Prismatic Closed-Lattice-Constrained Self-Reconfiguring Module
Michael Philetus Weller, Mustafa Emre Karagozler, Brian Kirby, Jason D. Campbell, and Seth Copen Goldstein. In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07, October, 2007.
Angled Fiber Array
Adhesion and Anisotropic Friction Enhancements of Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips
M.P. Murphy, Burak Aksak, and Metin Sitti. Journal of Adhesion Science and Technology, 2007.
Applications Of Claytronics
A 3D Fax Machine based on Claytronics
Padmanabhan Pillai, Jason D. Campbell, Gautam Kedia, Shishir Moudgal, and Kaushik Sheth. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006.
Ultralight Modular Robotic Building blocks for the Rapid Deployment of Planetary Outposts
Mustafa Emre Karagozler, Brian Kirby, W.J. Lee, Eugene Marinelli, T.C. Ng, Michael Philetus Weller, and Seth Copen Goldstein. In Revolutionary Aerospace Systems Concepts Academic Linkage (RASC-AL) Forum 2006, May, 2006.
2029 The 3-D Fax Machine Brings Back the House Call
Seth Copen Goldstein. In Headline from the Future, Popular Science Magazine, pages 34, March, 2005.
Bioinspired Adhesive
Adhesion and Anisotropic Friction Enhancements of Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips
M.P. Murphy, Burak Aksak, and Metin Sitti. Journal of Adhesion Science and Technology, 2007.
Biologically Inspired
Adhesion of Biologically Inspired Vertical and Angled Polymer Microfiber Arrays
Burak Aksak, M.P. Murphy, and Metin Sitti. Langmuir, 23(6):3322–32,February, 2007.
Locomotion of Miniature Catom Chains: Scale Effects on Gait and Velocity
David Johan Christensen and Jason D. Campbell. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '07), pages 2254–2260, April, 2007.
Blinky Blocks
Blinky blocks: a physical ensemble programming platform
Brian T. Kirby, Michael Ashley-Rollman, and Seth Copen Goldstein. In CHI '11 Extended Abstracts on Human Factors in Computing Systems, pages 1111–1116, 2011.
Carbon Nanofibers
Friction of Partially Embedded Vertically Aligned Carbon Nanofibers Inside Elastomers
Burak Aksak, Alan Cassell, Jun Li, Meyya Meyyappan, Phillip Callen, and Metin Sitti. Applied Physics Letters, 91,2007.
Claytronics
Distributed Intelligent MEMS: Progresses and Perspectives
Julien Bourgeois and Seth Copen Goldstein. In ICT Innovations 2011, volume 150, pages 15–25,2012.
Programming Modular Robots with Locally Distributed Predicates
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai. In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '08, 2008.
Claytronics Overview
Programmable Matter
Seth Copen Goldstein, Jason D. Campbell, and Todd C. Mowry. IEEE Computer, 38(6):99–101,June, 2005.
Claytronics: An Instance of Programmable Matter
Seth Copen Goldstein and Todd C. Mowry. In Wild and Crazy Ideas Session of ASPLOS, October, 2004.
Compliant Nanostructures
Friction of Partially Embedded Vertically Aligned Carbon Nanofibers Inside Elastomers
Burak Aksak, Alan Cassell, Jun Li, Meyya Meyyappan, Phillip Callen, and Metin Sitti. Applied Physics Letters, 91,2007.
Controlling Ensembles
Collective Actuation
Jason D. Campbell and Padmanabhan Pillai. International Journal of Robotics Research, 27(3-4):299–314,2008.
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08, September, 2008.
Locomotion of Miniature Catom Chains: Scale Effects on Gait and Velocity
David Johan Christensen and Jason D. Campbell. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '07), pages 2254–2260, April, 2007.
Collective Actuation
Jason D. Campbell and Padmanabhan Pillai. In RSS 2006 Workshop on Self-Reconfigurable Modular Robots, August, 2006.
Hierarchical Motion Planning for Self-reconfigurable Modular Robots
Preethi Srinivas Bhat, James Kuffner, Seth Copen Goldstein, and Siddhartha S. Srinivasa. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2006.
Scalable Shape Sculpting via Hole Motion: Motion Planning in Lattice-Constrained Module Robots
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai. In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.
Controlling Nodes
Control Strategies and Design Guidelines for Planar Latch-less Metamorphic RobotsBased on Analysis of Dynamics
Ashish Deshpande, Siddhartha S. Srinivasa, and Padmanabhan Pillai. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07), October, 2007.
Debugging
Distributed Watchpoints: Debugging Large Modular Robotic Systems
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai. International Journal of Robotics Research, 27(3),March, 2008. Also appeared as Distributed Watchpoints: Debugging Large Multi-Robot Systems, (icra07).
Distributed Watchpoints: Debugging Large Multi-Robot Systems
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, Padmanabhan Pillai, and Todd C. Mowry. In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '07, April, 2007.
Integrated Debugging of Large Modular Robot Ensembles
Benjamin D. Rister, Jason D. Campbell, Padmanabhan Pillai, and Todd C. Mowry. In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '07, April, 2007.
Distributed Watchpoints: Debugging Very Large Ensembles of Robots
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai. In Robotics: Science and Systems Workshop on Self-Reconfigurable Modular Robots, August, 2006. See derosa2007-icra07.
Demos
Demo Abstract: Sensing and Reproducing the Shapes of 3D Objects Using Claytronics
Padmanabhan Pillai and Jason D. Campbell. In Proceedings of the 4rd international conference on Embedded networked sensor systems (SenSys), October, 2006.
Demo Abstract: Claytronics---highly scalable communications, sensing, and actuation networks.
Burak Aksak, Preethi Srinivas Bhat, Jason D. Campbell, Michael De Rosa, Stanislav Funiak, Phillip B. Gibbons, Seth Copen Goldstein, Carlos Guestrin, Ashish Gupta, Casey Helfrich, James F. Hoburg, Brian Kirby, James Kuffner, Peter Lee, Todd C. Mowry, Padmanabhan Pillai, Ramprasad Ravichandran, Benjamin D. Rister, Srinivasan Seshan, Metin Sitti, and Haifeng Yu. In Proceedings of the 3rd international conference on Embedded networked sensor systems (SenSys), pages 299, 2005.
Distributed Algorithms
Distributed Watchpoints: Debugging Large Multi-Robot Systems
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, Padmanabhan Pillai, and Todd C. Mowry. In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '07, April, 2007.
Internal Localization of Modular Robot Ensembles
Stanislav Funiak, Padmanabhan Pillai, Jason D. Campbell, and Seth Copen Goldstein. In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07, October, 2007.
Distributed Inference in Dynamical Systems
Stanislav Funiak, Carlos Guestrin, Mark Paskin, and Rahul Sukthankar. In Advances in Neural Information Processing Systems 19, pages 433–440, December, 2006.
Distributed Localization of Networked Cameras
Stanislav Funiak, Carlos Guestrin, Rahul Sukthankar, and Mark Paskin. In Fifth International Conference on Information Processing in Sensor Networks (IPSN'06), pages 34–42, April, 2006.
Distributed Systems
A Language for Large Ensembles of Independently Executing Nodes
Michael P. Ashley-Rollman, Peter Lee, Seth Copen Goldstein, Padmanabhan Pillai, and Jason D. Campbell. In Proceedings of the International Conference on Logic Programming (ICLP '09), July, 2009.
Distributed Localization of Modular Robot Ensembles
Stanislav Funiak, Padmanabhan Pillai, Michael P. Ashley-Rollman, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of Robotics: Science and Systems, June, 2008.
Distributed Watchpoints: Debugging Large Modular Robotic Systems
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai. International Journal of Robotics Research, 27(3),March, 2008. Also appeared as Distributed Watchpoints: Debugging Large Multi-Robot Systems, (icra07).
Integrated Debugging of Large Modular Robot Ensembles
Benjamin D. Rister, Jason D. Campbell, Padmanabhan Pillai, and Todd C. Mowry. In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '07, April, 2007.
Distributed Watchpoints: Debugging Very Large Ensembles of Robots
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai. In Robotics: Science and Systems Workshop on Self-Reconfigurable Modular Robots, August, 2006. See derosa2007-icra07.
Dry Adhesive
Adhesion Behavior of Vertical and Aligned Polymer Microfibers
M.P. Murphy, Burak Aksak, and Metin Sitti. In Proceedings of Adhesion Society Symposium, February, 2007.
Adhesion and Anisotropic Friction Enhancements of Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips
M.P. Murphy, Burak Aksak, and Metin Sitti. Journal of Adhesion Science and Technology, 2007.
Ensemble Principle
Catoms: Moving Robots Without Moving Parts
Brian Kirby, Jason D. Campbell, Burak Aksak, Padmanabhan Pillai, James F. Hoburg, Todd C. Mowry, and Seth Copen Goldstein. In AAAI (Robot Exhibition), pages 1730–1, July, 2005.
The Ensemble Principle
Seth Copen Goldstein, Todd C. Mowry, Jason D. Campbell, Peter Lee, Padmanabhan Pillai, James F. Hoburg, Phillip B. Gibbons, Carlos Guestrin, James Kuffner, Brian Kirby, Benjamin D. Rister, Michael De Rosa, Stanislav Funiak, Burak Aksak, and Rahul Sukthankar. In 13th Foresight Conference of Advanced Nanotechnogy, October, 2005.
Friction
Adhesion and Anisotropic Friction Enhancements of Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips
M.P. Murphy, Burak Aksak, and Metin Sitti. Journal of Adhesion Science and Technology, 2007.
Gecko
Adhesion and Anisotropic Friction Enhancements of Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips
M.P. Murphy, Burak Aksak, and Metin Sitti. Journal of Adhesion Science and Technology, 2007.
Graphical Models
Distributed Inference in Dynamical Systems
Stanislav Funiak, Carlos Guestrin, Mark Paskin, and Rahul Sukthankar. In Advances in Neural Information Processing Systems 19, pages 433–440, December, 2006.
Distributed Localization of Networked Cameras
Stanislav Funiak, Carlos Guestrin, Rahul Sukthankar, and Mark Paskin. In Fifth International Conference on Information Processing in Sensor Networks (IPSN'06), pages 34–42, April, 2006.
Hierarchical Algorithms
Hierarchical Motion Planning for Self-reconfigurable Modular Robots
Preethi Srinivas Bhat, James Kuffner, Seth Copen Goldstein, and Siddhartha S. Srinivasa. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2006.
LDP
Programming Modular Robots with Locally Distributed Predicates
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai. In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '08, 2008.
Declarative Programming for Modular Robots
Michael P. Ashley-Rollman, Michael De Rosa, Siddhartha S. Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason D. Campbell. In Workshop on Self-Reconfigurable Robots/Systems and Applications at IROS '07, October, 2007.
Localization
Distributed Localization of Modular Robot Ensembles
Stanislav Funiak, Padmanabhan Pillai, Michael P. Ashley-Rollman, Jason D. Campbell, and Seth Copen Goldstein. International Journal of Robotics Research, 28(8):946–961,2009.
Distributed Localization of Modular Robot Ensembles
Stanislav Funiak, Padmanabhan Pillai, Michael P. Ashley-Rollman, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of Robotics: Science and Systems, June, 2008.
Internal Localization of Modular Robot Ensembles
Stanislav Funiak, Padmanabhan Pillai, Jason D. Campbell, and Seth Copen Goldstein. In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07, October, 2007.
Distributed Localization of Networked Cameras
Stanislav Funiak, Carlos Guestrin, Rahul Sukthankar, and Mark Paskin. In Fifth International Conference on Information Processing in Sensor Networks (IPSN'06), pages 34–42, April, 2006.
Localization Techniques for Synthetic Reality
Greg Reshko. Master's Thesis, Carnegie Mellon University, 2004.
Meld
A Language for Large Ensembles of Independently Executing Nodes
Michael P. Ashley-Rollman, Peter Lee, Seth Copen Goldstein, Padmanabhan Pillai, and Jason D. Campbell. In Proceedings of the International Conference on Logic Programming (ICLP '09), July, 2009.
Distributed Localization of Modular Robot Ensembles
Stanislav Funiak, Padmanabhan Pillai, Michael P. Ashley-Rollman, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of Robotics: Science and Systems, June, 2008.
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08, September, 2008.
Declarative Programming for Modular Robots
Michael P. Ashley-Rollman, Michael De Rosa, Siddhartha S. Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason D. Campbell. In Workshop on Self-Reconfigurable Robots/Systems and Applications at IROS '07, October, 2007.
Meld: A Declarative Approach to Programming Ensembles
Michael P. Ashley-Rollman, Seth Copen Goldstein, Peter Lee, Todd C. Mowry, and Padmanabhan Pillai. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07), October, 2007.
Modular Robotics
Distributed Localization of Modular Robot Ensembles
Stanislav Funiak, Padmanabhan Pillai, Michael P. Ashley-Rollman, Jason D. Campbell, and Seth Copen Goldstein. International Journal of Robotics Research, 28(8):946–961,2009.
Programming Modular Robots with Locally Distributed Predicates
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai. In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '08, 2008.
Multi-Robot Formations
Distributed and Efficient Algorithm for Self-reconfiguration of MEMS Microrobots
Hicham Lakhlef, Hakim Mabed, and Julien Bourgeois. In SAC 2013, 28-th ACM Symposium On Applied Computing, pages 1–6, March, 2013.
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08, September, 2008.
A Scalable Distributed Algorithm for Shape Transformation in Multi-Robot Systems
Ramprasad Ravichandran, Geoffrey Gordon, and Seth Copen Goldstein. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems IROS '07, October, 2007.
Nanofiber Friction
Friction of Partially Embedded Vertically Aligned Carbon Nanofibers Inside Elastomers
Burak Aksak, Alan Cassell, Jun Li, Meyya Meyyappan, Phillip Callen, and Metin Sitti. Applied Physics Letters, 91,2007.
Planning
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08, September, 2008.
Declarative Programming for Modular Robots
Michael P. Ashley-Rollman, Michael De Rosa, Siddhartha S. Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason D. Campbell. In Workshop on Self-Reconfigurable Robots/Systems and Applications at IROS '07, October, 2007.
Movement Primitives for an Orthogonal Prismatic Closed-Lattice-Constrained Self-Reconfiguring Module
Michael Philetus Weller, Mustafa Emre Karagozler, Brian Kirby, Jason D. Campbell, and Seth Copen Goldstein. In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07, October, 2007.
Hierarchical Motion Planning for Self-reconfigurable Modular Robots
Preethi Srinivas Bhat, James Kuffner, Seth Copen Goldstein, and Siddhartha S. Srinivasa. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2006.
Scalable Shape Sculpting via Hole Motion: Motion Planning in Lattice-Constrained Module Robots
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai. In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.
Power
Analysis and Modeling of Capacitive Power Transfer in Microsystems
Mustafa Emre Karagozler, Seth Copen Goldstein, and David S. Ricketts. Circuits and Systems I: Regular Papers, IEEE Transactions on, 59(7):1557 –1566,July, 2012.
Magnetic resonant coupling as a potential means for wireless power transfer to multiple small receivers
Benjamin L. Cannon, James F. Hoburg, Daniel D. Stancil, and Seth Copen Goldstein. IEEE Transactions on Power Electronics, 24(7),July, 2009.
Harnessing Capacitance for Inter-Robot Latching, Communication, and Power Transfer
Mustafa Emre Karagozler. Master's Thesis, Carnegie Mellon University, May, 2007. Also appeared as Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots in IROS '07.
Power Delivery Circuit for Scalable Claytronics
Byung W. Yoon. Master's Thesis, Carnegie Mellon University, Electrical and Computer Engineering, August, 2007.
The Robot is the Tether: Active, Adaptive Power Routing for Modular Robots With Unary Inter-robot Connectors
Jason D. Campbell, Padmanabhan Pillai, and Seth Copen Goldstein. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), pages 4108–15, August, 2005.
Probabilistic Inference
Internal Localization of Modular Robot Ensembles
Stanislav Funiak, Padmanabhan Pillai, Jason D. Campbell, and Seth Copen Goldstein. In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07, October, 2007.
Distributed Inference in Dynamical Systems
Stanislav Funiak, Carlos Guestrin, Mark Paskin, and Rahul Sukthankar. In Advances in Neural Information Processing Systems 19, pages 433–440, December, 2006.
Distributed Localization of Networked Cameras
Stanislav Funiak, Carlos Guestrin, Rahul Sukthankar, and Mark Paskin. In Fifth International Conference on Information Processing in Sensor Networks (IPSN'06), pages 34–42, April, 2006.
Programming
Programming Modular Robots with Locally Distributed Predicates
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai. In Proceedings of the IEEE International Conference on Robotics and Automation ICRA '08, 2008.
Programming Languages
A Language for Large Ensembles of Independently Executing Nodes
Michael P. Ashley-Rollman, Peter Lee, Seth Copen Goldstein, Padmanabhan Pillai, and Jason D. Campbell. In Proceedings of the International Conference on Logic Programming (ICLP '09), July, 2009.
Meld: A Declarative Approach to Programming Ensembles
Michael P. Ashley-Rollman, Seth Copen Goldstein, Peter Lee, Todd C. Mowry, and Padmanabhan Pillai. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07), October, 2007.
Programming Models
A Programming Model for Failure-Prone, Collaborative Robots
Nels Beckman and Jonathan Aldrich. In Workshop on Software Development and Integration in Robotics (SDIR), April, 2007.
Declarative Programming for Modular Robots
Michael P. Ashley-Rollman, Michael De Rosa, Siddhartha S. Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason D. Campbell. In Workshop on Self-Reconfigurable Robots/Systems and Applications at IROS '07, October, 2007.
Robot Fabrication
Electrostatic actuation and control of micro robots using a post-processed high-voltage SOI CMOS chip
Mustafa Emre Karagozler, A. Thaker, Seth Copen Goldstein, and David S. Ricketts. In Circuits and Systems (ISCAS), 2011 IEEE International Symposium on, ():2509 –2512,May, 2011.
Robotics
Generalizing Metamodules to Simplify Planning in Modular Robotic Systems
Daniel Dewey, Siddhartha S. Srinivasa, Michael P. Ashley-Rollman, Michael De Rosa, Padmanabhan Pillai, Todd C. Mowry, Jason D. Campbell, and Seth Copen Goldstein. In Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems IROS '08, September, 2008.
Movement Primitives for an Orthogonal Prismatic Closed-Lattice-Constrained Self-Reconfiguring Module
Michael Philetus Weller, Mustafa Emre Karagozler, Brian Kirby, Jason D. Campbell, and Seth Copen Goldstein. In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07, October, 2007.
Ultralight Modular Robotic Building blocks for the Rapid Deployment of Planetary Outposts
Mustafa Emre Karagozler, Brian Kirby, W.J. Lee, Eugene Marinelli, T.C. Ng, Michael Philetus Weller, and Seth Copen Goldstein. In Revolutionary Aerospace Systems Concepts Academic Linkage (RASC-AL) Forum 2006, May, 2006.
Claytronics: A scalable basis for future robots
Seth Copen Goldstein and Todd C. Mowry. In RoboSphere 2004, November, 2004.
Sensing
Internal Localization of Modular Robot Ensembles
Stanislav Funiak, Padmanabhan Pillai, Jason D. Campbell, and Seth Copen Goldstein. In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07, October, 2007.
Distributed Inference in Dynamical Systems
Stanislav Funiak, Carlos Guestrin, Mark Paskin, and Rahul Sukthankar. In Advances in Neural Information Processing Systems 19, pages 433–440, December, 2006.
Distributed Localization of Networked Cameras
Stanislav Funiak, Carlos Guestrin, Rahul Sukthankar, and Mark Paskin. In Fifth International Conference on Information Processing in Sensor Networks (IPSN'06), pages 34–42, April, 2006.
Simulation
Simulating multi-million-robot ensembles
Michael P. Ashley-Rollman, Padmanabhan Pillai, and Michelle L. Goodstein. In Proceedings of the 2011 IEEE International Conference on Robotics and Automation, pages 1006–1013, 2011.
Stochastic Algorithms
Scalable Shape Sculpting via Hole Motion: Motion Planning in Lattice-Constrained Module Robots
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai. In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.