Omni-Pi-tent: An Omnidirectional Modular Robot With Genderless Docking

  • Robert H. PeckEmail author
  • Jon Timmis
  • Andy M. Tyrrell
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11650)


This paper presents the design and development of Omni-Pi-tent, a self-reconfigurable modular robot capable of self-repair during continuous motion. This paper outlines the design features necessary for Dynamic Self-repair experiments and how the design of Omni-Pi-tent implements them, we summarise the construction of the first prototype and discuss initial experiments testing some of its key sensors and actuators. In addition, the paper describes experiments in which empirical data from laboratory tests of sensor hardware was integrated into V-REP simulations by means of creating custom sensor models so as to reduce the reality gap.


Omni-Pi-tent Modular robot Modular self-reconfigurable robots Self-reconfigurable Swarm robot Genderless docking 



The authors would like to thank Mark Hough for introducing R.H. Peck to PCB design software and principles, and EPSRC for funding R.H. Peck’s studentship.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Electronic EngineeringUniversity of YorkYorkUK

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