Publications

2023:

  • Kim, Heather Jin Hee, Haron Abdel-Raziq, Xinyu Liu, Alexandra Young Siskovic, Shreyas Patil, Kirstin H. Petersen, and Hsin-Liu Kao. “Robotic Barrier Construction through Weaved, Inflatable Tubes.” In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8318-8323. IEEE, 2023. (Paper)
  • Smith ML, Loope KJ, Chuttong B, Dobelmann J, Makinson JC, Saga T, Petersen K, Napp N. Honey bees and social wasps reach convergent architectural solutions to nest-building problems. PLoS Biol 21(7): e3002211. https://doi.org/10.1371/journal.pbio.3002211. (Paper)
  • Ceron, Steven, Gaurav Gardi, Kirstin Petersen, and Metin Sitti. “Programmable self-organization of heterogeneous microrobot collectives.” Proceedings of the National Academy of Sciences 120, no. 24 (2023): e2221913120. (Paper)
  • Yuhan Hu, Jin Ryu, David Gundana, Kirstin H. Petersen, Hadas Kress-Gazit, and Guy Hoffman. 2023. Nudging or Waiting? Automatically Synthesized Robot Strategies for Evacuating Noncompliant Users in an Emergency Situation. In Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI ’23). Association for Computing Machinery, New York, NY, USA, 603–611. (Paper)
  • Steven Ceron, Kevin O’Keeffe, and Kirstin Petersen. Diverse behaviors in non-uniform chiral and non-chiral swarmalators. Nat Commun 14, 940 (2023). https://doi.org/10.1038/s41467-023-36563-4 (Paper)(Video)(More videos), featured in Nature Communications Editors’ Highlights.
  • Yoav Matia, Gregory H Kaiser, Robert F. Shepherd, Amir D. Gat, Nathan Lazarus, and Kirstin H. Petersen (2023), Harnessing Nonuniform Pressure Distributions in Soft Robotic Actuators. Adv. Intell. Syst. 2200330. https://doi.org/10.1002/aisy.202200330. (Paper)(Video)(Inside cover)
  • Danna Ma, Kirstin H. Petersen, Todd Murphey, and Daniel I. Goldman. Smarticles 2.0 – Robotic Modules Designed for 3D Entanglement. Abstract at American Physical Society (APS), March meeting 2023. (Abstract)

2022:

  • Nialah Jenae Wilson-Small, David Goedicke, Kirstin Petersen, and Shiri Azenkot. “A Drone Teacher: Designing Physical Human-Drone Interactions for Movement Instruction.” In Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction, pp. 311-320. 2023.
  • Ma, Danna, Jiahe Chen, Sadie Cutler, and Kirstin Petersen. “Smarticle 2.0: Design of Scalable, Entangled Smart Matter.” In International Symposium on Distributed Autonomous Robotic Systems, pp. 509-522. Cham: Springer Nature Switzerland, 2022. (Paper)
  • Defay, Jack A., Alexandra Q. Nilles, and Kirstin Petersen. “Characterization of the design space of collective Braitenberg vehicles.” In International Symposium on Distributed Autonomous Robotic Systems, pp. 257-272. Cham: Springer Nature Switzerland, 2022. (Paper)
  • Phoebe A. Koenig and Kirstin Petersen. 2022. “Best Practices for Instrumenting Honeybees.” Scientific Reports 12, no. 1 (2022): 1-9. (Paper)(Video)
  • Jiahe Chen and Kirstin Petersen, “Decay-Based Error Correction in Collective Robotic Construction,” 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 01-07, doi: 10.1109/IROS47612.2022.9981721. (Paper)
  • Abdel-Raziq, Haron, Daniel Palmer, Alyosha Molnar, and Kirstin Petersen. “Mapping Unknown Environments With Instrumented Honey Bees.” In 2022 International Conference on Robotics and Automation (ICRA), pp. 2330-2336. IEEE, 2022. (Paper)
  • Jonathan Jaramillo, Justine Vanden Heuvel, Kirstin Petersen. 2022. Towards Low-cost, Vision-based Estimation of Yield and Crop Load in Vineyards. In ICRA 2022 Workshop on Agricultural Robotics and Automation, May 27, 2022, Philadelphia, PA. (Abstract)
  • Jeena Park, Yuhan Hu, Jonathan Jaramillo, Hadas Kress-Gazit, Kirstin H. Petersen, and Guy Hoffman. 2022. Designing a Soft, Mobile Interface for Multimodal Human-Robot Interaction. In CHI ’22: ACM CHI workshop: Actuated Materials and Soft Robotics Strategies for Human-Computer Interaction Design, April 30– May 05, 2022, New Orleans, LA. ACM. (Paper)
  • Guarav Gardi†, Steven Ceron†, Wendong Wang, Kirstin Petersen, and Metin Sitti. Microrobot collectives with reconfigurable morphologies, behaviors, and functions. Nature Commun13, 2239 (2022). https://doi.org/10.1038/s41467-022-29882-5 (Paper)(Bibtex)
  • Alexandra Nilles, Steven Ceron, Nils Napp, and Kirstin Petersen. “Strain-Based Consensus in Soft, Inflatable Robots”, In 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), pp. 789-794. IEEE, 2022.  
  • Jack A. Defay, Jacob M. Peters, and Kirstin H. Petersen. “A customizable, low-cost alternative for distributed 2D flow sensing in swarms.” Artificial Life and Robotics 27, no. 2 (2022): 272-277. (Paper)(Bibtex)
  • Jingwen Du, Zach Brothers, Leah Valdes, Nils Napp, and Kirstin Petersen. “Automated Entrance Monitoring of Managed Bumble Bees”, in the Journal of Artificial Life and Robotics, ISSN: 1433-5298, DOI: 10.1007/s10015-022-00748-9 (2022). (Paper)(Bibtex)
  • Luyang Robby Huang, Alexander Zhu, Kathleen Wang, Daniel Goldman, Andy Ruina, and Kirstin Hagelskjaer Petersen. “Construction and Excavation by Collaborative Double-Tailed SAW Robots,” in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 3742-3748, April 2022, doi: 10.1109/LRA.2022.3146562. (Paper)(Bibtex)(Video)
  • Kevin O’Keeffe, Steven Ceron, and Kirstin Petersen, “Collective behavior of swarmalators on a one-dimensional ring”,  Rev. E105, 014211, DOI: 10.1103/PhysRevE.105.014211. (Paper)(Wolfram Notebook)

2021:

  • Liu, Yutong, Justin Kuo, Kerik Cox, Justine Vanden Heuvel, Kirstin Petersen, and Amit Lal. “Imaging and Detection of Botrytis Cinerea with Gigahertz Ultrasonic Imager.” In 2021 IEEE International Ultrasonics Symposium (IUS), pp. 1-4. IEEE, 2021. (Paper)
  • Paul Bardunias, Alli Nilles, Remi Greenberg, Daniel Goldman, and Kirstin Petersen, “Emergent tunnel branching in Coptotermes formosanus(Shiraki) through group interaction and stigmergic signalling”, abstract presented at Society of Integrative and Comparative Biology Annual Meeting (SICB), 2021. (Abstract)
  • Jacob M. Peters, Jonathan Jaramillo, and Kirstin Petersen, “An adaptable approach to multiple animal tracking in Python”, abstract presented at Society of Integrative and Comparative Biology Annual Meeting (SICB), 2021. (Abstract)
  • Haron Abdel-Raziq and Kirstin Petersen. “Automated Monitoring of Pollinators with Agricultural Robots.” In 2022 8th International Conference on Automation, Robotics and Applications (ICARA), pp. 86-90. IEEE, 2022. (Paper)(Bibtex)
  • Michael L Smith, Nils Napp, and Kirstin H. Petersen. “Imperfect comb construction reveals the architectural abilities of honeybees” PNAS. August 3, 2021 118 (31). (Paper)(Bibtex)
  • Steven Ceron, Marta A. Kimmel, Alexandra Nilles and Kirstin H. Petersen, “Soft Robotic Oscillators with Strain-Based Coordination,” in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7557-7563, Oct. 2021, doi: 10.1109/LRA.2021.3100599. (Paper)(Bibtex)
  • Jonathan Jaramillo, Andrew Lin, Emma Sung, Isabel Jane Hunt Richter, and Kirstin Petersen. “Mobile, Inflatable Interface to Support Human Robot Interaction Studies,” 2021 18th International Conference on Ubiquitous Robots (UR), 2021, pp. 320-325, doi: 10.1109/UR52253.2021.9494648. (Paper)(Bibtex)(Video)(Open source files)
  • Jingwen Du, Zach Brothers, Leah Valdes, Nils Napp, and Kirstin Petersen. “Automated Entrance Monitoring of Managed Bumble Bees”, presented at SWARM 2021 (Presentation video)(Open source files)
  • Jack Alexander Defay, Jacob M. Peters, and Kirstin Petersen. “A Customizable, Low-Cost Alternative for Distributed 2D Flow Sensing in Swarms”, presented at SWARM 2021(Paper)(Presentation video)(Open source files)
  • Jiahe Chen†, Yifang Liu†, Adam Pacheck†, Hadas Kress-Gazit, Nils Napp, and Kirstin Petersen. (2022) Errors in Collective Robotic Construction. In: Distributed Autonomous Robotic Systems. DARS 2021. Springer Proceedings in Advanced Robotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-92790-5_21. (Paper)(Bibtex)
  • Jonathan Jaramillo, Justine Vanden Heuvel, and Kirstin Petersen. “Low-Cost, Computer Vision-Based, Prebloom Yield Prediction in Vineyards”,  Agron., doi: 10.3389/fagro.2021.648080, 2021.(Paper)(Bibtex)
  • Haron Abdel-Raziq, Daniel Palmer, Phoebe Koenig, Alyosha Molnar, and Kirstin Petersen. “System design for inferring colony-level pollination activity through miniature bee-mounted sensors”, Sci Rep11, 4239 (2021). (Paper)(Bibtex)

2020:

  • Andrea Ling, Mahshid Moghadasi, Kowin Shi, Jungshien Wei, and Kirstin Petersen. “Formica Forma: Explorations in Insect-Robot Collaboration for Emergent Design & Manufacturing”, in proceedings of the 40th annual conference of the association of computer aided design in architecture, ACADIA 2020: Distributed Proximities, book I, p 312. (Paper)
  • Nialah J. Wilson†, Steven Ceron†, Logan Horowitz, and Kirstin H. Petersen. “Scalable and Robust Fabrication, Operation, and Control of Compliant Modular Robots”, Scientific Frontiers special issue on Designing Self-Organization in the Physical Realm, doi: 10.3389/frobt.2020.00044, 2020. (Paper)(Video)(Bibtex) 
  • Phoebe A. Koenig, Michael L. Smith, Logan H. Horowitz, Daniel M. Palmer, and Kirstin Petersen. “Artificial shaking signals in honey bee colonies elicit natural responses”, Scientific Reports10, 3746 (2020). (Paper)(Bibtex) 
  • Danna Ma†, Steven Ceron†, Gregory Kaiser, and Kirstin Petersen. “Simple, low-cost fabrication of soft sensors for shape reconstruction.” IEEE Robotics and Automation Letters 5, no. 3 (2020): 4049-4054. (Paper)(Video)(Bibtex) 
  • Jacob M. Peters and Kirstin Petersen, “Honeybee swarms use a flow-mediated pheromone signaling scheme to coordinate aggregation”, abstract presented at Society of Integrative and Comparative Biology Annual Meeting (SICB), 2020. (Abstract)

2019:

  • Yawen Deng, Yiwen Hua, Nils Napp, and Kirstin Petersen,  “Scalable Compiler for the TERMES Distributed Assembly System.” Robotics and Autonomous Systems Journal, https://doi.org/10.1016/j.robot.2019.07.010, July 2019. (Paper)(Bibtex) 
  • Steven Ceron, Nialah Wilson, Logan Horowitz, and Kirstin Petersen. “Comparative Analysis of Sensors in Rigid and Deformable Modular Robots for Shape Estimation.” In 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), pp. 252-258. IEEE, 2019. (Paper)(Bibtex) 
  • Steven Ceron, Logan Horowitz, Nialah Wilson, Claire Chen, Daniel Kim, and Kirstin Petersen. “Towards a Scalable, Self-Reconfigurable Robot with Compliant Modules.” In 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), pp. 47-49. IEEE, 2019. (Paper)(Bibtex) 
  • Timothy Duggan, Logan Horowitz, Asena Ulug, Emilie Baker, and Kirstin Petersen. “Inchworm-inspired locomotion in untethered soft robots.” In 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), pp. 200-205. IEEE, 2019. (Paper)(Video)(Bibtex)
  • Kirstin H. Petersen, Nils Napp, Robert Stuart-Smith, Daniela Rus, and Mirko Kovac. “A review of collective robotic construction.” Science Robotics, 13 Mar 2019: Vol. 4, Issue 28, DOI: 10.1126/scirobotics.aau8479. (Paper)(Teaser video)(Bibtex).
  • Kirstin H. Petersen and Robert F. Shepherd. “Fluid-driven intrinsically soft robots.” In Robotic Systems and Autonomous Platforms, pp. 61-84. Woodhead Publishing, 2019. (Book chapter)(Bibtex)
  • Yawen Deng, Yiwen Hua, Nils Napp, and Kirstin Petersen,  “Scalable Compiler for the TERMES Distributed Assembly System.” Distributed Autonomous Robotic Systems. Springer, Cham, 2019. 125-138. (Pdf)(Video)(Bibtex).Best Student Paper Award.

2018:

  • Yiwen Hua, Yawen Deng, and Kirstin Petersen, “Robots building bridges, not walls.” In 2018 IEEE 3rd International Workshops on Foundations and Applications of Self* Systems (FAS* W)(pp. 154-159). IEEE. (Pdf)(Video)(Bibtex)
  • Chaim C. Futran, Steven Ceron, Benjamin C. Mac Murray, Robert F. Shepherd, and Kirstin H. Petersen. “Leveraging fluid resistance in soft robots.” In 2018 IEEE International Conference on Soft Robotics (RoboSoft), pp. 473-478. IEEE, 2018. (Pdf)(Video)(Bibtex) 
  • Steven Ceron, Aleena Kurumunda, Eashan Garg, Mira Kim, Tosin Yeku, and Kirstin Pctersen. “Popcorn-driven robotic actuators.” In 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 4271-4276. IEEE, 2018. (Pdf)(Video)

2017:

  • Kirstin Petersen and Radhika Nagpal. “Complex Design by Simple Robots: A Collective Embodied Intelligence Approach to Construction.” Architectural Design4 (2017): 44-49. (Paper)(Bibtex) 
  • Polygerinos, N. Correll, S. Morin, B. Mosadegh, C. Onal, K. Petersen, M. Cianchetti, M. Tolley, and R. Shepherd. “Soft Robotics: Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction”. Advanced Materials (2017). DOI: 10.1002/adem.201700016. (Paper) (Cover)(Bibtex)
  • Alexander Spröwitz, Chantal Göttler, Ayush Sinha, Corentin Caer, Mehmet Uğur Öoztekin, Kirstin Petersen, and Metin Sitti. “Scalable pneumatic and tendon driven robotic joint inspired by jumping spiders.” In 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 64-70. IEEE, 2017. (Pdf)(Video)(Bibtex)
  • Lindsey Hines, Kirstin Petersen, and Metin Sitti. “Asymmetric stable deformations in inflated dielectric elastomer actuators.” In 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 4326-4331. IEEE, 2017. (Pdf)(Video)(Bibtex)

2016:

  • Lindsey Hines†, Kirstin Petersen†, Gou Zhan Lum, and Metin Sitti. “Soft Actuators for Small-Scale Robotics.” Advanced Materials (2016): 1521-4095. DOI: 10.1002/adma.201603483. (Paper)(Bibtex) 
  • David Andréen, Petra Jenning, Nils Napp, and Kirstin Petersen. “Emergent Structures Assembled by Large Swarms of Simple Robots.” In ACADIA//2016: POSTHUMAN FRONTIERS: Data, Designers, and Cognitive Machines: Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA), pp. 54-61. 2016. (Pdf)(Bibtex)
  • Lindsey Hines†, Kirstin Petersen†, and Metin Sitti, “Inflated Soft Actuators with Reversible Stable Deformations,” Advanced Materials Communications, DOI: 10.1002/adma. 201600107, 2016. (Paper)(Video)(Bibtex) 

2015:

  • Kirstin Petersen, Paul Bardunias, Nils Napp, Justin Werfel, Radhika Nagpal, & Scott Turner, “Arrestant property of recently manipulated soil on Macrotermes michaelseni as determined through visual tracking and automatic labeling of individual termite behaviors,” Journal of Behavioral Processes, vol. 116: 8-11, 2015. (Paper)(Bibtex)

2014:

  • Justin Werfel, Kirstin Petersen, and Radhika Nagpal, “Designing collective behavior in a termite-inspired robot construction team,” Science, 343(6172):754-758, 2014. Voted among the top ten Scientific Breakthroughs of 2014 by Science. (Paper) (Cover)(Bibtex). 

2012:

  • Kirstin Petersen, Nils Napp, Jaohe Chin-Lee, Justin Werfel, and Radhika Nagpal, “3D Tracking of Building Processes in Macrotermes,” VAIB Workshop, Intl. Conference on Pattern Recognition (ICPR), 2012.  (Pdf)

2011:

  • Kirstin Petersen, Justin Werfel, and Radhika Nagpal, “TERMES: An Autonomous Robotic System for Three- Dimensional Collective Construction,” Robotics: Science and Systems Conference (RSS), DOI: 10.15607/RSS.2011.VII.035. (Pdf)(Video)(Bibtex) 
  • Werfel, K. Petersen, & R. Nagpal, “Distributed Multi-Robot Algorithms for the TERMES 3D Collective Construction System,” Workshop, Intl. Conference on Robots and Systems (IROS),2011. (Pdf)(Bibtex)

†Equally contributing first authors.

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