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Millibots
Head: Pradeep Khosla

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated center: VASC
Associated lab/group: Advanced Mechatronics Lab

For more information, see this project's homepage.

This page last updated - January 1999.

Millibots are small semi-autonomous and autonomous robots to be deployed by a larger robot or field agent. Current Millibot modules include processing units, motor controllers, sensors, pan/tilt platforms, RF link transceivers. A common serial protocol is planned for inter-modular communications where actuation, sensing and communication processes will run in a distributed fashion.

Name - Title <Email Address>
• [Home] H. Benjamin Brown - Project Scientist <hbb@cs.cmu.edu>
• [Home] Pradeep Khosla - Dean and Philip and Marsha Dowd Prof ECE, RI/ECE <pkk@ece.cmu.edu>

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Development and deployment of a line of sight virtual sensor for heterogeneous teams
  R. Grabowski, P. Khosla, and H. Choset
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 3, May, 2004, pp. 3024 - 3029. [Abstract]
  Download: pdf [708 KB] copyrighted

• Autonomous exploration via regions of interest
  R. Grabowski, P. Khosla, and H. Choset
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), Vol. 2, October, 2003, pp. 1691 - 1696. [Abstract]
  Download: pdf [566 KB] copyrighted

• Millibot trains for enhanced mobility
  H. Brown, M. Vande Weghe, C. Bererton, and P. Khosla
  IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, December, 2002, pp. 452 - 461.
  Download: pdf [1135 KB] copyrighted

• Millibot Trains for Enhanced Mobility
  H. Brown, J.M.V. WEGHE, C.A. BERERTON, and P.K. KHOSLA
  IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, December, 2002, pp. 452-461. [Abstract]

• Millibots
  L.E. Navarro-Serment, R. Grabowski, C. Paredis, and P. Khosla
  IEEE Robotics & Automation Magazine, December, 2002, pp. 31 - 40. [Abstract]
  Download: pdf [1296 KB] copyrighted

• Localization Techniques for a Team of Small Robots
  R. Grabowski and P. Khosla
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'01), Vol. 2, October, 2001, pp. 1067 - 1072. [Abstract]
  Download: pdf [506 KB] copyrighted

• Millibots: Small Distributed Robots for Surveillance and Mapping
  C. Bererton, L.E. Navarro-Serment, R. Grabowski, C. Paredis, and P. Khosla
  Government Microcircuit Applications Conference, March, 2000.

• Modularity in Small Distributed Robots
  L.E. Navarro-Serment, R. Grabowski, C. Paredis, and P. Khosla
  Proceedings of the SPIE conference on Sensor Fusion and Decentralized Control in Robotic Systems II, September, 1999. [Abstract]
  Download: pdf [258 KB] copyrighted

• Heterogeneous Teams of Modular Robots for Mapping and Exploration
  R. Grabowski, L.E. Navarro-Serment, C. Paredis, and P. Khosla
  Autonomous Robots - Special Issue on Heterogeneous Multirobot Systems, 1999. [Abstract]
  Download: pdf [614 KB] copyrighted

• Heterogeneous Teams of Modular Robots for Mapping and Exploration
  L.E. Navarro-Serment, R. Grabowski, C. Paredis, and P. Khosla
  tech. report ICES 04-11-99, ICES, Carnegie Mellon University, 1999.