By the same authors

From the same journal

Modular self-assembling and self-reconfiguring e-pucks

Research output: Contribution to journalArticle



Publication details

JournalSwarm Intelligence
DateE-pub ahead of print - 14 May 2013
DatePublished (current) - Sep 2013
Issue number2-3
Number of pages31
Pages (from-to)83-113
Early online date14/05/13
Original languageEnglish


In this paper, we present the design of a new structural extension for the e-puck mobile robot. The extension may be used to transform what is traditionally a swarm robotics platform into a self-reconfigurable modular robotic system. We introduce a modified version of a previously developed collective locomotion algorithm and present new experimental results across three different themes. We begin by investigating how the performance of the collective locomotion algorithm is affected by the size and shape of the robotic structures involved, examining structures containing up to nine modules. Without alteration to the underlying algorithm, we then analyse the implicit self-assembling and self-reconfiguring capabilities of the system and show that the novel use of ‘virtual sensors’ can significantly improve performance. Finally, by examining a form of environment driven self-reconfiguration, we observe the behaviour of the system in a more complex environment. We conclude that the modular e-puck extension represents a viable platform for investigating collective locomotion, self-assembly and self-reconfiguration.

    Research areas

  • swarm robotics, collective motion, Self-assembly


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