Departmental Papers (CIS)

Date of this Version

September 2007

Document Type

Conference Paper


Copyright 2007 IEEE. Reprinted from Proceedings of the 1st ACM/IEEE International Conference on Distributed Smart Cameras, September 2007, pages 76-80.

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In order to realize the goal of self assembling or self reconfiguring modular robots the constituent modules in the system need to be able to gauge their position and orientation with respect to each other. This paper describes an approach to solving this localization problem by equipping each of the modules in the ensemble with a smart camera system. The paper describes one implementation of this scheme on a modular robotic system and discusses the results of a self assembly experiment.


smart cameras, localization, modular robots, self-assembly



Date Posted: 18 August 2008

This document has been peer reviewed.