Publications de Masoud Asadpour

Self-Organized Aggregation Triggers Collective Decision Making in a Group of Cockroach-Like Robots

Self-amplification processes are at the origin of several collective decision phenomena in insect societies. Understanding these processes requires linking individual behavioral rules of insects to a choice dynamics at the colony level. In a homogeneous en ...

2009

An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching

Auke Ijspeert, Masoud Asadpour, Yvan Bourquin, Alexander Spröwitz

This article presents a robust and heavy duty physical latching connection mechanism, which can be actuated with DC motors to actively connect and disconnect modular robot units. The special requirements include a lightweight and simple construction provid ...

2008

Graph signature for self-reconfiguration planning

Aude Billard, Auke Ijspeert, Pierre Dillenbourg, Masoud Asadpour, Alexander Spröwitz

This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection / disconnection of modules and rotations of the degrees of freedom. This paper introduces a new ...

2008

Locomotion in modular robots based on central pattern generators

Auke Ijspeert, Jérôme Maye, Masoud Asadpour, Rico Möckel, Alexander Spröwitz

2008

The embodiment of cockroach aggregation behavior in a group of micro-robots

Gilles Caprari, Masoud Asadpour, Simon Garnier

We report the faithful reproduction of the self-organized aggregation behavior of the German cockroach Blattella germanica with a group of robots. We describe the implementation of the biological model provided by Jeanson et al. in Alice robots, and we com ...

2008

Knowledge-based Extraction of Area of Expertise for Cooperation in Learning

Roland Siegwart, Masoud Asadpour

Using each other's knowledge and expertise in learning - what we call cooperation in learning- is one of the major existing methods to reduce the number of learning trials, which is quite crucial for real world applications. In situated systems, robots bec ...

2007

Social Integration of Robots into Groups of Cockroaches to Control Self-Organized Choices

Francesco Mondada, Alcherio Martinoli, Roland Siegwart, Gilles Caprari, Fabien Tâche, Jean-Louis Deneubourg, Masoud Asadpour, Nicolaus Correll

Collective behavior based on self-organization has been shown in group-living animals from insects to vertebrates. These findings have stimulated engineers to investigate approaches for the coordination of autonomous multirobot systems based on self-organi ...

American Association for the Advancement of Science2007

Adaptive Locomotion Control in Modular Robotics

Auke Ijspeert, Jérôme Maye, Masoud Asadpour, Rico Möckel, Alexander Spröwitz

2007

Heterogeneous and Hierarchical Cooperative Learning via Combining Decision Trees

Roland Siegwart, Masoud Asadpour

2006

Reduction of Learning Time for Robots Using Automatic State Abstraction

Roland Siegwart, Masoud Asadpour

Springer-Verlag2006

Behaviour design in microrobots : hierarchical reinforcement learning under resource constraints

Masoud Asadpour

In order to verify models of collective behaviors of animals, robots could be manipulated to implement the model and interact with real animals in a mixed-society. This thesis describes design of the behavioral hierarchy of a miniature robot, that is able ...

EPFL2006

Robot-Animal Interaction: Perception and Behavior of Insbot

Roland Siegwart, Gilles Caprari, Walter Karlen, Fabien Tâche, Masoud Asadpour

This paper describes hardware and behavior implementation of a miniature robot in size of a match box that simulates the behavior of cockroaches in order to establish a social interaction with them. The robot is equipped with two micro-processors dedicated ...

2006

Cooperative Learning for Very Long Learning Tasks: A Society Inspired Approach to Persistence of Knowledge

Roland Siegwart, Masoud Asadpour, Imad Riachi

2005

Perception and Behavior of InsBot : Robot-Animal Interaction Issues

Roland Siegwart, Gilles Caprari, Fabien Tâche, Masoud Asadpour

2005

Aggregation Behaviour as a Source of Collective Decision in a Group of Cockroach-Like Robots

Gilles Caprari, Masoud Asadpour, Simon Garnier

Springer-Verlag2005

Collective Decision-Making by a Group of Cockroach-Like Robots

Gilles Caprari, Masoud Asadpour, Simon Garnier

In group-living animals, aggregation favours interactions as well as information exchanges between individuals, and allows thus the emergence of complex collective behaviors. In previous works, a model of a self-enhanced aggregation was deduced from experi ...

2005

Robot-animal interaction: Perception and behavior of insbot

Roland Siegwart, Gilles Caprari, Walter Karlen, Fabien Tâche, Masoud Asadpour

This paper describes the hardware and behavior implementation of a miniature robot in size of a match box that simulates the behavior of cockroaches in order to establish a social interaction with them. The robot is equipped with two micro-processors dedic ...

2005

Perception and Behavior of InsBot : Robot-Animal Interaction Issues

Roland Siegwart, Gilles Caprari, Walter Karlen, Fabien Tâche, Masoud Asadpour

This paper describes the hardware and behavior implementation of a miniature robot, in size of a match box, that is able to interact with cockroaches. The robot is equipped with two micro-processors dedicated to hardware processing and behavior generation. ...

2005