Michael Sosa | Searcharxiv

arXiv2026

Contact-Driven Localization in a Freeform Robotic Self-Assembled Structure

Accurate localization remains a key challenge in swarm robotics, particularly for self-reconfigurable systems that must identify relative positions to form diverse structures. Most existing approaches rely on external tracking infrastructure or high-cost sensors, which limit scalability and deployment in unstructured environments. In this paper, we propose a novel contact-driven localization method for modular robots that leverages only local communication through binary contact information (whether two robots are physically connected or not). To exploit these contact cues, we introduce a virtual-force framework in which robots iteratively refine their poses attracting toward dock-connected neighbors and repelling from non-connected ones. The method requires no external infrastructure and relies only on minimal onboard sensing. Simulations show effective localization during the assembly of towers and cantilevers, enabling accurate, scalable, free-form self-assembly.

cs.RO↗

arXiv2020

Assimilation of distributed ocean wave sensors

In-situ ocean wave observations are critical to improve model skill and validate remote sensing wave measurements. Historically, such observations are extremely sparse due to the large costs and complexity of traditional wave buoys and sensors. In this work, we present a recently deployed network of free-drifting satellite-connected surface weather buoys that provide long-dwell coverage of surface weather in the northern Pacific Ocean basin. To evaluate the leading-order improvements to model forecast skill using this distributed sensor network, we implement a widely-used data assimilation technique and compare forecast skill to the same model without data assimilation. Even with a basic assimilation strategy as used here, we find remarkable improvements to forecast accuracy from the incorporation of wave buoy observations, with a 27% reduction in root-mean-square error in significant waveheights overall. For an extreme event, where forecast accuracy is particularly relevant, we observe considerable improvements in both arrival time and magnitude of the swell on the order of 6 hours and 1 m, respectively. Our results show that distributed ocean networks can meaningfully improve model skill, at extremely low cost. Refinements to the assimilation strategy are straightforward to achieve and will result in immediate further modelling gains.

physics.ao-ph↗