Publications

Journal

May 2024

Spherical rolling robots — Design, modeling, and control: A systematic literature review

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Maarouf Saad, Bruno Belzile, Aminata Diouf

Robotics and Autonomous Systems

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Conference

September 2022

Naples

Bots of a feather: Exploring user perceptions of group cohesiveness for application in robotic swarms

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Laboratoire Cognitions Humaine et Artificielle, Rebecca Stower, David St-Onge

31st IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)

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Conference

September 2022

Naples

Towards evaluating the impact of swarm robotic control strategy on operators’ cognitive load

David St-Onge, Giovanni Beltrame, Coffey Lab: audition, sleep & plasticity, Anita Paas

31st IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)

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Journal

September 2022

Minimize tracking occlusion in collaborative pick-and-place tasks: An analytical approach for non-wrist-partitioned manipulators

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@Article{s22176430,
AUTHOR = {Montazer Zohour, Hamed and Belzile, Bruno and Gomes Braga, Rafael and St-Onge, David},
TITLE = {Minimize Tracking Occlusion in Collaborative Pick-and-Place Tasks: An Analytical Approach for Non-Wrist-Partitioned Manipulators},
JOURNAL = {Sensors},
VOLUME = {22},
YEAR = {2022},
NUMBER = {17},
ARTICLE-NUMBER = {6430},
URL = {https://www.mdpi.com/1424-8220/22/17/6430},
PubMedID = {36080889},
ISSN = {1424-8220},
ABSTRACT = {Several industrial pick-and-place applications, such as collaborative assembly lines, rely on visual tracking of the parts. Recurrent occlusions are caused by the manipulator motion decrease line productivity and can provoke failures. This work provides a complete solution for maintaining the occlusion-free line of sight between a variable-pose camera and the object to be picked by a 6R manipulator that is not wrist-partitioned. We consider potential occlusions by the manipulator as well as the operator working at the assembly station. An actuated camera detects the object goal (part to pick) and keeps track of the operator. The approach consists of using the complete set of solutions obtained from the derivation of the univariate polynomial equation solution to the inverse kinematics (IK). Compared to numerical iterative solving methods, our strategy grants us a set of joint positions (posture) for each root of the equation from which we extract the best (minimizing the risks of occlusion). Our analytical-based method, integrating collision and occlusion avoidance optimizations, can contribute to greatly enhancing the efficiency and safety of collaborative assembly workstations. We validate our approach with simulations as well as with physical deployments on commercial hardware.},
DOI = {10.3390/s22176430}
}

David St-Onge, Hamed Montazer Zohour, Bruno Belzile

Sensors

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Conference

August 2022

St-Louis

Additive manufacturing strategy for ultra-lightweight high value-added components

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@proceedings{10.1115/DETC2022-88458,
    author = {Catar, Louis and Tabiai, Ilyass and St-Onge, David},
    title = "{Additive Manufacturing Strategy for Ultra-Lightweight High Value-Added Components}",
    volume = {Volume 5: 27th Design for Manufacturing and the Life Cycle Conference (DFMLC)},
    series = {International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
    year = {2022},
    month = {08},
    abstract = "{Additive manufacturing and its growth in advanced industrial fields are changing many process paradigms for the development of highly customizable components. It condenses the traditional approaches to produce assemblies that are more and more integrated at different levels: functionality (strength, lightness), productivity (flexibility, customization) and development (passage from the digital part to the final part).This work presents a methodology to help select a combination of possibilities (materials, process, etc.). Derived from the double diamond method, this methodology aims to propose a rationalization of the choices available to designers of high value-added products with strict and mutually intertwined requirements. The whole methodology is then illustrated with the design of an indoor aerostat drone which illustrates the implementation of some of the key elements of the proposed process.}",
    doi = {10.1115/DETC2022-88458},
    url = {https://doi.org/10.1115/DETC2022-88458},
    note = {V005T05A001},
    eprint = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-pdf/IDETC-CIE2022/86250/V005T05A001/6943360/v005t05a001-detc2022-88458.pdf},
}

Louis Catar, Ilyass Tabiai, David St-Onge

ASME 2022 International Design Engineering Technical Conferences Computers and Information in Engineering Conference

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Journal

June 2022

ARIES: Cylindrical pendulum actuated explorer sphere

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Bruno Belzile, David St-Onge

IEEE/ASME Transactions on Mechatronics

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Conference

May 2022

Philadelphia

Design and modeling of a spherical robot actuated by a cylindrical drive

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Bruno Belzile, David St-Onge

IEEE International Conference on Robotics and Automation (ICRA)

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Conference

May 2022

Virtual

Towards the characterisation of polymer micro-lattices additive manufacturing techniques for versatile aerospace structure design

Louis Catar, Ilyass Tabiai, David St-Onge

1st International Conference on Advanced Manufacturing for Aerospace and Space Applications (ICAM22)

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Journal

February 2022

Scutigera: Design, modelling and experiments for an artistic multi-body airship concept

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@article{10.1115/1.4053926,
    author = {Salas Gordoniz, Jorge Esteban and Reeves, Nicolas and St-Onge, David},
    title = "{Scutigera: Design, Modeling, and Experiments for an Artistic Multibody Airship Concept}",
    journal = {Journal of Mechanisms and Robotics},
    volume = {14},
    number = {4},
    year = {2022},
    month = {03},
    abstract = "{The exploration of new lands has always been a source of motivation for mankind. Despite the common idea that our planet is fully known, a huge number of inaccessible places still remain unvisited today, especially below the surface. Recent advances in robotics allow some of these locations to be explored by unmanned vehicles. This paper presents the design of a three modules lighter-than-air vehicle specifically conceived to autonomously explore inaccessible caves and underground environments. The design is inspired from an arthropod, Scutigera coleoptrata, a long-legged centipede commonly found in our houses. Instead of crawling on walls like its biological counterpart, the robotic scutigera hovers and flies in cave tunnels. The aim is to develop a flexible semi-rigid, segmented airship that can withstand long, smooth explorations of caves while transmitting in real-time the images and sounds that it captures. This paper presents the equations of motion for a single module, and experimental results to identify the physical properties of the Scutigera modules. For simulation and control, we develop the model of the multibody system, based on the kinematics of the modules and the dynamics of the vehicle derived using Kane’s equations. Our approach can be extended for an n-bodies system. A three-segment motion is illustrated with simplified scenarios in the horizontal plane using head actuation only. Finally, a structural design of the modules is presented and supported with a proof-of-concept prototype.}",
    issn = {1942-4302},
    doi = {10.1115/1.4053926},
    url = {https://doi.org/10.1115/1.4053926},
    note = {041004},
    eprint = {https://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/14/4/041004/6891985/jmr\_14\_4\_041004.pdf},
}

David St-Onge, Nicolas Reeves, Jorge Salas Gordoniz

Journal of Mechanisms and Robotics

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December 2021

Virtual

From safety standards to safe operation with mobile robotic systems deployment

Ivanka Iordanova, Tatiana Wanang Siyapdjie, Bruno Belzile, Rafael Gomes Braga, Sina Karimi, David St-Onge

Workshop on Design, Learning, and control for safe human-robot collaboration at the International Conference on Advanced Robotics (ICAR)

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Conference

October 2021

Montreal

Neuromuscular performance and injury risk assessment using fusion of multimodal biophysical and cognitive data: In-field athletic performance and injury risk assessment

David St-Onge, Nerea Urrestilla Anguiozar, Rachid Aissaoui

International Conference on Multimodal Interaction

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Conference

October 2021

Dubai

Semantic optimal robot navigation using building information on construction sites

BibTeX

@inproceedings{10.22260/ISARC2021/0010,
	doi = {10.22260/ISARC2021/0010},
	year = 2021,
	month = {November},
	author = {Karimi, Sina and Gomes Braga, Rafael and Iordanova, Ivanka and St-Onge, David},
	title = {Semantic Optimal Robot Navigation Using Building Information on Construction Sites},
	booktitle = {Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC)},
	isbn = {978-952-69524-1-3},
	issn = {2413-5844},
	publisher = {International Association for Automation and Robotics in Construction (IAARC)},
	editor = {Feng, Chen and Linner, Thomas and Brilakis, Ioannis and Castro, Daniel and Chen, Po-Han and Cho, Yong and Du, Jing and Ergan, Semiha and Garcia de Soto, Borja and Gaparík, Jozef and Habbal, Firas and Hammad, Amin and Iturralde, Kepa and Bock, Thomas and Kwon, Soonwook and Lafhaj, Zoubeir and Li, Nan and Liang, Ci-Jyun and Mantha, Bharadwaj and Ng, Ming Shan and Hall, Daniel and Pan, Mi and Pan, Wei and Rahimian, Farzad and Raphael, Benny and Sattineni, Anoop and Schlette, Christian and Shabtai, Isaac and Shen, Xuesong and Tang, Pingbo and Teizer, Jochen and Turkan, Yelda and Valero, Enrique and Zhu, Zhenhua},
	pages = {57-64},
	address = {Dubai, UAE}
}

Sina Karimi, Ivanka Iordanova, Rafael Gomes Braga, David St-Onge

International Symposium on Automation and Robotics in Construction

Conference

August 2021

Virtual

Modular foldable airship concept for subterranean exploration

Nicolas Reeves, Jorge Salas Gordoniz

ASME IDETC/CIE2021

Journal

August 2021

Ontology-based approach to data exchanges for robot navigation on construction sites

Ivanka Iordanova, Sina Karimi

Journal of Information Technology in Construction

Conference

June 2021

Virtual

On the communication requirementsof decentralized connectivity control: A field experiment

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@InProceedings{10.1007/978-3-030-92790-5_8,
author="Panerati, Jacopo
and Ramtoula, Benjamin
and St-Onge, David
and Cao, Yanjun
and Kaufmann, Marcel
and Cowley, Aidan
and Sabattini, Lorenzo
and Beltrame, Giovanni",
editor="Matsuno, Fumitoshi
and Azuma, Shun-ichi
and Yamamoto, Masahito",
title="On the Communication Requirements of Decentralized Connectivity Control",
booktitle="Distributed Autonomous Robotic Systems",
year="2022",
publisher="Springer International Publishing",
address="Cham",
pages="95--107",
abstract="Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation can require team-wide connectivity and a carefully designed communication. Several recently proposed decentralized connectivity maintenance approaches exploit elegant algebraic results drawn from spectral graph theory. Yet, these proposals are rarely taken beyond simulations or laboratory implementations. The contribution of this work is two-fold: (i) we describe the full-stack implementation---from hardware to software---of a decentralized control law for robust connectivity maintenance; and (ii) we assess, in the field, our robots' ability to correctly exchange the information required to execute it.",
isbn="978-3-030-92790-5"
}

Giovanni Beltrame, David St-Onge

Distributed Autonomous Robotic Systems : 15th International Symposium

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Conference

May 2021

Virtual

Framework for automation of construction progress tracking on indoor environment, using autonomous rover and beacon-based system

David St-Onge, Ivanka Iordanova

Canadian Society of Civil Engineering Annual Conference 2021 : CSCE21 Construction Track

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Journal

March 2021

Distributed TDMA for mobile UWB network localization

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David St-Onge, Giovanni Beltrame

IEEE Internet of Things Journal

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Journal

February 2021

Distributed TDMA for mobile UWB network localization

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David St-Onge, Giovanni Beltrame

IEEE Internet of Things Journal

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Journal

February 2021

Integration of BIM and GIS for construction automation, a systematic literature review (SLR) combining bibliometric and qualitative analysis

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@article{Karimi2021,
abstract = {For several decades now, the construction industry is suffering from low productivity, especially in comparison to manufacturing industries which have succeeded to benefit from digitalization of their processes. Furthermore, scarceness of qualified workforce is expected in the near future. Construction automation is introduced as a solution to these challenges. The capabilities of construction robots are improving at an accelerated pace. They are starting to be used in non-laboratory contexts for automating processes ranging from infrastructure inspection to digital fabrication. One fundamental requirement of employing robots in construction is their autonomous positioning. Building information modelling (BIM) and geographic information system (GIS) are now a necessity for the construction projects. Integration between BIM and GIS provides holistic digital representation of the built environment that robots could potentially utilize for positioning purposes. Preceding this research, a number of reviews have been conducted on BIM–GIS integration, but none studied it from automation perspective. This research addresses this deficiency through a systematic literature review of the state-of-the-art on BIM–GIS integration with the purpose of robot positioning and navigation on construction sites. Using software tools and “science-mapping” methods, 236 papers were explored. Trends, challenges, potentials, and deficiencies identified and mapped. Citation patterns of journal articles along with the analysis of studies; visualized and analyzed. Bibliometric analysis is followed by a thorough qualitative analysis of the articles identified by the systematic methodology indicating limitations of current studies such as vertical navigation, inaccuracy, dynamics of construction sites, indoor-outdoor navigation. Requirements for robot positioning using BIM–GIS integration are defined.},
author = {Karimi, Sina and Iordanova, Ivanka},
doi = {10.1007/s11831-021-09545-2},
file = {:C\:/Users/dastonge/Desktop/Literature/Karimi, Iordanova - 2021 - Integration of BIM and GIS for Construction Automation, a Systematic Literature Review (SLR) Combining Biblio.pdf:pdf},
isbn = {0123456789},
issn = {18861784},
journal = {Archives of Computational Methods in Engineering},
publisher = {Springer Netherlands},
title = {{Integration of BIM and GIS for Construction Automation, a Systematic Literature Review (SLR) Combining Bibliometric and Qualitative Analysis}},
url = {https://doi.org/10.1007/s11831-021-09545-2},
year = {2021}
}

Ivanka Iordanova, Sina Karimi

Archives of Computational Methods in Engineering

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September 2020

Utrecht, the Netherlands

Measuring cognitive load: Heart-rate variability and pupillometry assessment

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@inproceedings{10.1145/3395035.3425203,
author = {Urrestilla, Nerea and St-Onge, David},
title = {Measuring Cognitive Load: Heart-Rate Variability and Pupillometry Assessment},
year = {2020},
isbn = {9781450380027},
publisher = {Association for Computing Machinery},
address = {New York, NY, USA},
url = {https://doi.org/10.1145/3395035.3425203},
doi = {10.1145/3395035.3425203},
abstract = {Cognitive load covers a wide field of study that triggers the interest of many disciplines, such as neuroscience, psychology and computer science since decades. With the growing impact of human factor in robotics, many more are diving into the topic, looking, namely, for a way to adapt the control of an autonomous system to the cognitive load of its operator. Theoretically, this can be achieved from heart-rate variability measurements, brain waves monitoring, pupillometry or even skin conductivity. This work introduces some recent algorithms to analyze the data from the first two and assess some of their limitations.},
booktitle = {Companion Publication of the 2020 International Conference on Multimodal Interaction},
pages = {405–410},
numpages = {6},
keywords = {heart-rate variability, pupillometry, cognitive load},
location = {Virtual Event, Netherlands},
series = {ICMI '20 Companion}
}

Nerea Urrestilla Anguiozar

ICMI '20: International Conference on Multimodal Interaction

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Journal

May 2020

From Design to Deployment: Decentralized Coordination of Heterogeneous Robotic Teams

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Frontiers in Robotics and AI

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Journal

December 2019

SOUL: data sharing for robot swarms

David St-Onge, MIST Lab

Autonomous Robots

Journal

December 2019

Collective expression: how robotic swarms convey information with group motion

David St-Onge, MIST Lab, Laboratoire Cognitions Humaine et Artificielle

Paladyn, Journal of Behavioral Robotics

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Journal

December 2019

Planetary exploration with robot teams: Implementing Higher Autonomy With Swarm Intelligence

David St-Onge, MIST Lab, Coffey Lab: audition, sleep & plasticity

IEEE Robotics & Automation Magazine

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Conference

October 2019

New Delhi, India

Towards situational awareness from robotic group motion

David St-Onge, MIST Lab, Laboratoire Cognitions Humaine et Artificielle

IEEE International Conference on Robot & Human Interactive Communication

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Journal

August 2019

Decentralized progressive shape formation with robot swarms

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David St-Onge, MIST Lab

Autonomous Robots

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Journal

June 2019

Engaging with robotic swarms: commands from expressive motion

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David St-Onge, MIST Lab, Centre for Interdisciplinary Studies in Rhythm, Time and Motion

ACM Transactions on Human-Robot Interaction

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Conference

May 2019

Montréal, Canada

Clothes design using micro-UAVs

David St-Onge, Ying Gao, MIST Lab

ICRA-X: Robotic Art Program : Forum “Expressive Motions”

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Conference

May 2019

Montréal

Decentralized collaborative transport of fabrics using micro-UAVs

David St-Onge, MIST Lab

IEEE/RSJ International Conference on Robotics and Automation (ICRA)

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Conference

May 2019

Montréal, Canada

Tangible robotic fleet control

David St-Onge, MIST Lab

International Conference on Autonomous Agents and MultiAgent Systems

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Conference

May 2019

Montréal, Canada

Collaborative tracking of devices in historical architecture

David St-Onge, MIST Lab

Colloque annuel ReSMiQ

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October 2018

Madrid, Spain

Lightweight collision avoidance for resource-constrained robots

David St-Onge, MIST Lab

IEEE/RSJ International Conference on Intelligent Robots and Systems

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Journal

March 2018

A deployable mechanism concept for the collection of small-to-medium-size space debris

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@article{St-Onge2018,
abstract = {Current efforts in active debris removal strategies and mission planning focus on removing the largest, most massive debris. It can be argued, however, that small untrackable debris, specifically those smaller than 5 cm in size, also pose a serious threat. In this work, we propose and analyze a mission to sweep the most crowded Low Earth Orbit with a large cupola device to remove small-to-medium-size debris. The cupola consists of a deployable mechanism expanding more than 25 times its storage size to extend a membrane covering its surface. The membrane is sufficiently stiff to capture most small debris and to slow down the medium-size objects, thus accelerating their fall. An overview of the design of a belt-driven rigid-link mechanism proposed to support the collecting cupola surface is presented, based on our previous work. Because of its large size, the cupola will be subject to significant aerodynamic drag; thus, orbit maintenance analysis is carried out using the DTM-2013 atmospheric density model and it predicts feasible requirements. While in operation, the device will also be subject to numerous hyper-velocity impacts which may significantly perturb its orientation from the desired attitude for debris collection. Thus, another important feature of the proposed debris removal device is a distributed array of flywheels mounted on the cupola for reorienting and stabilizing its attitude during the mission. Analysis using a stochastic modeling framework for hyper-velocity impacts demonstrates that three-axes attitude stabilization is achievable with the flywheels array. MASTER-2009 software is employed to provide relevant data for all debris related estimates, including the debris fluxes for the baseline mission design and for assessment of its expected performance. Space debris removal is a high priority for ensuring sustainability of space and continual launch and operation of man-made space assets. This manuscript presents the first analysis of a small-to-medium size debris removal mission, albeit finding it to not be economically viable at the present time.},
author = {St-Onge, David and Sharf, Inna and Sagni{\`{e}}res, Luc and Gosselin, Cl{\'{e}}ment},
doi = {10.1016/j.asr.2017.12.026},
file = {:C$\backslash$:/Users/dastonge/Desktop/Literature/St-Onge et al. - 2018 - A deployable mechanism concept for the collection of small-to-medium-size space debris.pdf:pdf},
issn = {18791948},
journal = {Advances in Space Research},
keywords = {Active debris removal,Cupola device,Deployable mechanism,Small size,Space debris},
number = {5},
pages = {1286--1297},
title = {{A deployable mechanism concept for the collection of small-to-medium-size space debris}},
url = {http://linkinghub.elsevier.com/retrieve/pii/S027311771730902X},
volume = {61},
year = {2018}
}

David St-Onge, McGill Aerospace Mechatronics Lab

Advances in Space Research

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Journal

January 2018

Over-the-air updates for robotic swarms

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@article{Varadharajan2018,
abstract = {Along with the growing number of robotic devices introduced by automation and the Internet of Things has come the growth of interest in methods and tools for deploying code updates to active sensor arrays and swarms of robots. This article presents a toolset that can perform an over-the-air code update of the robots in a swarm while the swarm is active, without interrupting the swarm's mission. Each update is generated as a patch of the currently deployed code. A consensus mechanism borrowed from swarm intelligence ensures that, at any given time, all robots in the swarm run the same code version. Simulations were conducted with thousands of units to study the scalability and bandwidth consumption of the update process. Real deployment experiments were then performed on a small swarm of commercial quadcopters. This article is part of a theme issue on release engineering. {\textcopyright} 1984-2012 IEEE.},
author = {Varadharajan, Vivek Shankar and Onge, David St and Gub, Christian and Beltrame, Giovanni},
doi = {10.1109/MS.2018.111095718},
file = {:C$\backslash$:/Users/dastonge/Desktop/Literature/Varadharajan et al. - 2018 - Over-the-air updates for robotic swarms.pdf:pdf},
issn = {07407459},
journal = {IEEE Software},
keywords = {AI,OTA,UAVs,artificial intelligence,autonomous vehicles,computers and society,distributed applications,distributed artificial intelligence,distributed systems,information technology,multiagent systems,over-the-air,robotics,software development,software engineering,unmanned aerial vehicles},
number = {2},
pages = {44--50},
title = {{Over-the-air updates for robotic swarms}},
volume = {35},
year = {2018}
}

David St-Onge, MIST Lab

IEEE Software

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Journal

October 2017

Montréal

Control, localization and human interaction with an autonomous lighter-than-air performer

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@article{St-Onge2016b,
abstract = {Due to the recent technological progress, Human–RobotInteraction (HRI) has become a major field of research in both engineering and artistic realms, particularly so in the last decade. The mainstream interests are, however, extremely diverse: challenges are continuously shifting, the evolution of robot' skills, as well as the advances in methods for understanding their environment radically impact the design and implementation of research prototypes. When directly deployed in a public installation or artistic performances, robots help foster the next level of understanding in HRI. To this effect, this paper presents a successful interdisciplinary art-science-technology project, the Aerostabiles, leading to a new way of conducting HRI research. The project consists of developing a mechatronic, intelligent platform embodied in multiple geometric blimps – cubes – that hover and move in the air. The artistic context of this project required a number of advances in engineering on the aspects of localization and control systems, flight dynamics, as well as interaction strategies, and their evolution through periods of collective activities called “research–creation residencies”. These events involve artists, engineers, and performers working in close collaboration, sometimes, over several weeks at a time. They generate fruitful exchanges between all researchers, but most of all, they present a unique and creative way to direct and focus the robotics development. This paper represents an overview of the technical contributions from a range of expertise through the artistic drive of the Aerostabiles project.},
author = {St-Onge, David and Br{\`{e}}ches, Pierre Yves and Sharf, Inna and Reeves, Nicolas and Rekleitis, Ioannis and Abouzakhm, Patrick and Girdhar, Yogesh and Harmat, Adam and Dudek, Gregory and Gigu{\`{e}}re, Philippe},
doi = {10.1016/j.robot.2016.10.013},
issn = {09218890},
journal = {Robotics and Autonomous Systems},
keywords = {Airship,Dynamic modeling,Human–robot interaction,Mobile robotics,Robotic art,Robotic blimp,Theater},
pages = {165--186},
publisher = {Elsevier B.V.},
title = {{Control, localization and human interaction with an autonomous lighter-than-air performer}},
url = {http://www.sciencedirect.com/science/article/pii/S0921889016306674},
volume = {88},
year = {2017}
}

David St-Onge, McGill Aerospace Mechatronics Lab, Nicolas Reeves

Robotics and Autonomous Systems

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September 2017

Vancouver, Canada

Swarming in ROS : from design to practical deployment

MIST Lab, David St-Onge

IEEE/RSJ International Conference on Intelligent Robots and Systems

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May 2017

Milan, Italy

ORIGIN POINT : Harmonic echoes of a stone cosmology

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David St-Onge, Nicolas Reeves

Generative Art Conference

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May 2016

Montréal, Canada

Dynamic modelling of a four-bar free floating mechanism with passive joints and flywheel actuators

David St-Onge

Joint International Conference on Multibody System Dynamics

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April 2016

Synthesis and design of a one degree-of-freedom planar deployable mechanism with a large expansion ratio

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@article{St-Onge2016a,
abstract = {This paper presents a new design of a deployable one degree-of-freedom (DOF) mechanism. Polygonal rigid-link designs are first investigated. Then, belt-driven links are considered in order to maximize the expansion ratio while avoiding flattened ill-conditioned parallelogram configurations. The planar basic shape of the proposed design is a triangle. Hence, virtually any planar or spatial surface can be created by assembling such faces. For architecture and telescopic applications, the cupola assembly is investigated. The advantages of this approach are discussed, and the scalability is demonstrated. Finally, a prototype is built for illustration purposes.},
author = {St-Onge, David and Gosselin, Cl{\'{e}}ment},
doi = {10.1115/1.4032101},
issn = {1942-4302},
journal = {Journal of Mechanisms and Robotics},
number = {2},
pages = {021025},
title = {{Synthesis and Design of a One Degree-of-Freedom Planar Deployable Mechanism With a Large Expansion Ratio}},
url = {http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?doi=10.1115/1.4032101},
volume = {8},
year = {2016}
}

David St-Onge

Journal of Mechanisms and Robotics

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September 2015

Dynamic modelling and control of a cubic flying blimp using external motion capture

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@article{St-Onge2015,
abstract = {This article presents results on the dynamic modelling of a cubic flying robot referred to as the Tryphon. Four identical prototypes of the Tryphon are currently available, in addition to numerous earlier prototypes. They are used for artistic performances in museums, art galleries or theatres. Unique in the airship realm, the Tryphons are difficult to control because of the limited knowledge of their behaviour. Hence, the development of a dynamic model has the potential to significantly improve the control performances. In this article, a previously proposed model is shown to adapt to the experimental data obtained from a motion capture system. Experiments with this system also lead to a simple closed-loop control of the blimp. From the data sets, a more accurate nonlinear auto-regressive with exogenous input model is developed. Furthermore, controllability issues and applications are also discussed.},
author = {St-Onge, David and Gosselin, Cl{\'{e}}ment and Reeves, Nicolas},
doi = {10.1177/0959651815597603},
isbn = {0959651815597},
issn = {20413041},
journal = {Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering},
keywords = {Art,airship,blimp,dynamics,mechatronics},
number = {10},
pages = {970--982},
title = {{Dynamic modelling and control of a cubic flying blimp using external motion capture}},
url = {http://pii.sagepub.com/lookup/doi/10.1177/0959651815597603},
volume = {229},
year = {2015}
}

David St-Onge, NXI Gestatio

Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering

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