Publications by Hala Khodr | EPFL Graph Search

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

EPFL2023

Modulo Cellulo: Modular Versatile Tangible Educational Robots

Pierre Dillenbourg, Jamie Paik, Hala Khodr, Kevin Andrew Holdcroft, Barbara Bruno

This article presents the novel modular version of the robotic platform Cellulo, a versatile handheld robot initially designed as an educational robot. The use of Cellulo in different contexts and applications over the years has highlighted the need for mo ...

2022

Cellulan World: Interactive Platform to Learn Swarm Behaviors

Pierre Dillenbourg, Hala Khodr, Barbara Bruno, Aditi Kothiyal

Swarming behaviors are ubiquitous in nature, and an important topic to teach and learn. In the learning sciences domain of complex systems understanding, studies have shown that novices tend to assume that centralized control and leadership should exist wh ...

IFAAMAS2022

An Assessment Framework for Complex Systems Understanding

Pierre Dillenbourg, Hala Khodr, Barbara Bruno, Aditi Kothiyal

Complex systems understanding is crucial for understanding the sciences of the twenty-first century. Helping students with the principles of complex systems is thus both a challenge and an opportunity. In order to investigate the effectiveness of complex s ...

2022

Designing Online Multiplayer Games with Haptically and Virtually Linked Tangible Robots to Enhance Social Interaction in Therapy

Pierre Dillenbourg, Arzu Güneysu Özgür, Mehdi Akeddar, Hala Khodr

The social aspects of therapy and training are important for patients to avoid social isolation and must be considered when designing a platform, especially for home-based rehabilitation. We proposed an online version of the previously proposed tangible Pa ...

IEEE2022

Effect of Different Communication Affordances on the Emergence of Collaboration Strategies in an Online Multiplayer Game

Pierre Dillenbourg, Hala Khodr, Barbara Bruno, Aditi Kothiyal

In a group, the collective dynamics is governed by the inter- actions between individuals, which can manifest differently depending on the available means of communication. In this paper, we compare 3 conditions of communication affordances (global chat, l ...

Springer2022

Detecting Compensatory Motions and Providing Informative Feedback During a Tangible Robot Assisted Game for Post-Stroke Rehabilitation

Pierre Dillenbourg, Ayberk Özgür, Arzu Güneysu Özgür, Hala Khodr, Friedhelm Christoph Hummel, Maximilian Jonas Wessel, Barbara Bruno

Gamified rehabilitation tackles the problem of keeping patients engaged in, and motivated to do physical rehabilitation to improve its efficacy. However, with respect to standard rehabilitation, patients are freer to move about and may compensate their mot ...

IEEE2021

How Diseases Spread: Embodied Learning of Emergence with Cellulo Robots

Pierre Dillenbourg, Hala Khodr, Aditi Kothiyal

Embodiment has been known to have several benefits for learning. However, implementing embodied learning in a classroom with technologies such as Kinect, augmented, virtual and mixed reality and tangible objects is a challenge because of the infrastructura ...

ASIA PACIFIC SOC COMPUTERS IN EDUCATION2021

Being Part of the Swarm: Experiencing Human-Swarm Interaction with VR and Tangible Robots

Pierre Dillenbourg, Arzu Güneysu Özgür, Kevin Gonyop Kim, Hala Khodr, Barbara Bruno

A swarm is the coherent behavior that emerges ubiquitously fromsimple interaction rules between self-organized agents. Understand-ing swarms is of utmost importance in many disciplines and jobs,but hard to teach due to the elusive nature of the phenomenon, ...

2020

AlloHaptic: Robot-Mediated Haptic Collaboration for Learning Linear Functions

Pierre Dillenbourg, Wafa Monia Benkaouar Johal, Hala Khodr, Barbara Bruno, Aditi Kothiyal

Collaborative learning appears in a joint intellectual efforts of individuals to understand an object of knowledge collectively. In their search for understanding the problems, meanings, and solutions, learners employ different multi-modal strategies. In t ...

IEEE2020

Lightweight physics-based models for the control of fluid-mediated self-assembly of robotic modules

Alcherio Martinoli, Bahar Haghighat, Hala Khodr

Self-assembling robotic systems form a subclass of distributed robotic systems that undertake the fundamental task of structure formation. These systems build desired target structures by putting their constituting robotic modules together in a distributed ...

Elsevier2019

An Optimal Planning Framework to Deploy Self-Reconfigurable Modular Robots

Auke Ijspeert, Alexandre Bernardino, Mehmet Hasan Mutlu, Simon Lukas Hauser, Hala Khodr

Self-reconfiguration is a hard problem due to the high dimensionality of self-reconfigurable modular systems. Searchbased approaches offer complete and optimal solutions. However, naive search algorithms cannot directly solve self-reconfiguration tasks in ...

2019

TIP: Tangible e-Ink Paper Manipulatives for Classroom Orchestration

Pierre Dillenbourg, Ayberk Özgür, Wafa Monia Benkaouar Johal, Hala Khodr, Alex The Duy Tran

While digital tools are more and more used in classrooms, teachers' common practice remains to use photocopied paper documents to share and collect learning exercises from their students. With the Tangible e-Ink Paper (TIP) system, we aim to explore the us ...

ACM2019

Design and Calibration of a Lightweight Physics-Based Model for Fluid-Mediated Self-Assembly of Robotic Modules

Alcherio Martinoli, Bahar Haghighat, Hala Khodr

In this paper, we consider a system consisting of multiple floating robotic modules performing self-assembly. Faithfully modeling such a system and its inter-module interactions typically involves capturing the hydrodynamic forces acting on the modules usi ...

Springer2019