Peer-reviewed Articles

You can find bibliometric informations on my Google scholar page. My ORCID ID is 0000-0002-4367-4588.


NPC engine: a High-Performance, Modular, and Domain-Agnostic MCTS Framework for Emergent Narrative

Stephane Magnenat, Henry Raymond, David Enderlin, Sven Knobloch, Robert W. Sumner. In Intelligent Narrative Technologies (INT) workshop, hybrid online/physical at Cal Poly Pomona, USA, October 24-25, 2022.

Grasping Derivatives: Teaching Mathematics through Embodied Interactions using Tablets and Virtual Reality

Julia Chatain, Virginia Ramp, Venera Gashaj, Violaine Fayolle, Manu Kapur, Robert W. Sumner, Stéphane Magnenat. In ACM Interaction Design and Children (IDC), pages 98-108, hybrid Braga and online, June 27-30, 2022, DOI: 10.1145/3501712.3529748.


Virtual Reality Human–Human Interface to Deliver Psychotherapy to People Experiencing Auditory Verbal Hallucinations: Development and Usability Study.

Mischa Brander, Stephan Egger, Noa Hürlimann, Erich Seifritz, Robert Sumner, Stefan Vetter, Stéphane Magnenat. In JMIR Serious Games, December 29, 2020, DOI: 10.2196/26820.

Leveraging efficient planning and lightweight agent definition: a novel path towards emergent narrative

Henry Raymond, Sven Knobloch, Fabio Zünd, Robert W. Sumner, Stéphane Magnenat. In Intelligent Narrative Technologies (INT) workshop, online, October 19-20, 2020.

Towards Automatic Drawing Animation using Physics-based Evolution

Lasse Lingens, Robert W. Sumner, Stéphane Magnenat. In ACM Interaction Design and Children (IDC), online, June 17-24, 2020.


A Creative Game Design and Programming App

Julia Chatain, Olivier Bitter, Violaine Fayollo, Robert W. Sumner, Stéphane Magnenat. In ACM SIGGRAPH Conference on Motion, Interaction and Games (MIG), Newcastle Upon Tyne, United Kingdom, October 28-30, 2019, DOI:10.1145/3359566.3360056.

Augmented Robotics for Learners: A Case Study on Optics

Wafa Johal, Olguta Robu, Amaury Dame, Stéphane Magnenat, Francesco Mondada. In 28th IEEE International Conference on Robot & Human Interactive Communication (Ro-Man), October 14-18, 2019


Adaptive Tutoring on a Virtual Reality Driving Simulator

Sandro Ropelato, Fabio Zünd, Stéphane Magnenat, Marino Menozzi, Robert W. Sumner. In 1st Workshop on Artificial Intelligence Meets Virtual and Augmented Worlds (AIVRAR), Bankok, Thailand, November 27-30, 2017

Improved mobile robot programming performance through real-time program assessment

Rémy Siegfried, Severin Klinger, Markus Gross, Robert W. Sumner, Francesco Mondada, Stéphane Magnenat. In 22th Annual Conference on Innovation and Technology in Computer Science Education (ITiCSE), pages 341-346, Bologna, July 3-5, 2017, DOI:10.1145/3059009.3059044.


Bringing robotics into formal education using the Thymio open source hardware robot

Francesco Mondada, Michael Bonani, Fanny Riedo, Manon Briod, Léa Pereyre, Philippe Rétornaz, Stéphane Magnenat. In IEEE Robotics and Automation Magazine, 24(1), pages 77-85, March 2017, DOI:10.1109/MRA.2016.2636372.

Localization of inexpensive robots with low-bandwidth sensors

Shiling Wang, Francis Colas, Ming Liu, Francesco Mondada, Stéphane Magnenat. In Distributed Autonomous Robotic Systems (DARS), London, UK, Nov. 7–9, 2016.


Augmented Creativity: Bridging the real and virtual worlds to enhance creative play

Fabio Zünd, Mattia Ryffel, Stéphane Magnenat, Alessia Marra, Maurizio Nitti, Mubbasir Kapadia, Gioacchino Noris, Kenny Mitchell, Markus Gross, Robert W. Sumner. In SIGGRAPH Asia 2015 Symposium on Mobile Graphics and Interactive, Kobe, Japan, November 2-5, 2015, DOI:10.1145/2818427.2818460.

Live Texturing of Augmented Reality Characters from Colored Drawings

Stéphane Magnenat, Dat Tien Ngo, Fabio Zünd, Mattia Ryffel, Gioacchino Noris, Gerhard Rothlin, Alessia Marra, Maurizio Nitti, Pascal Fua, Markus Gross, Robert W. Sumner. In IEEE Transactions on Visualization and Computer Graphics, 21(11), pages 1201–1210, November, 2015, DOI:10.1109/TVCG.2015.2459871 and in The 14th IEEE International Symposium on Mixed and Augmented Reality (ISMAR), Fukuoka, Japan, Sept. 29–Oct. 3, 2015. Won the S&T Best Full Paper Honorable Mention award.

IniRobot: a pedagogical kit to initiate children to concepts of robotics and computer science

Dider Roy, Pierre-Yves Oudeyer, Stéphane Magnenat, Fanny Riedo, Gordana Gerber, Morgane Chevalier, Francesco Mondada. In 6th International Conference on Robotics in Education, Yverdon les Bains, Switzerland, May 20-22, 2015.

Enhancing Robot Programming With Visual Feedback and Augmented Reality

Stéphane Magnenat, Morderchai Ben-Ari, Severin Klinger, and Robert W. Sumner. In 20th Annual Conference on Innovation and Technology in Computer Science Education (ITiCSE), Vilnius, July 6-8, 2015, DOI:10.1145/2729094.2742585.

Map API - Scalable Decentralized Map Building for Robots

Titus Cieslewski, Simon Lynen, Marcin Dymczyk, Stéphane Magnenat, Roland Siegwart. In Proceedings of the 2015 IEEE International Conference on Robotics and Automation, pages 6241–6247, Seattle, WA, USA, May 26–30, 2015, DOI:10.1109/ICRA.2015.7140075.


Visual Programming Language for Thymio II Robot

Jiwon Shin, Roland Siegwart, and Stéphane Magnenat. In Interaction Design and Children (IDC), Aarhus, Denmark, June 17–20, 2014.

Teaching a Core CS Concept through Robotics

Stéphane Magnenat, Jiwon Shin, Fanny Riedo, Roland Siegwart, and Morderchai Ben-Ari. In 19th Annual Conference on Innovation and Technology in Computer Science Education (ITiCSE), pages 315–320, Uppsala, Sweden, June 23–25, 2014, DOI: 10.1145/2591708.2591714.


Cooperative Navigation in Robotic Swarms

Frederick Ducatelle, Gianni A. Di Caro, Alexander Förster, Michael Bonani, Marco Dorigo, Stéphane Magnenat, Francesco Mondada, Rehan O’Grady, Carlo Pinciroli, Philippe Rétornaz, Vito Trianni, Luca M. Gambardella. In Swarm Intelligence, 8(1), pages 1–33, November 2013, DOI: 10.1007/s11721-013-0089-4.

Thymio II, a Robot That Grows Wiser with Children

Fanny Riedo, Morgane Chevalier, Stéphane Magnenat, and Francesco Mondada. In IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), pages 187–193, Tokyo, Japan, November 7–9, 2013, DOI: 10.1109/ARSO.2013.6705527.

Seamless Multi-Robot Programming for the People: Aseba and the Wireless Thymio II Robot

Philippe Rétornaz, Fanny Riedo, Stéphane Magnenat, Florian Vaussard, Michael Bonani, and Francesco Mondada. In IEEE International Conference on Information and Automation, pages 337–343, Yinchuan, China, August 26–28, 2013, DOI: 10.1109/ICInfA.2013.6720320.

Comparing ICP Variants on Real-World Data Sets

François Pomerleau, Francis Colas, Roland Siegwart, and Stéphane Magnenat. In Autonomous Robots, 34(3), pages 133–148, April 2013, DOI: 10.1007/s10514-013-9327-2.


Towards Non-Parametric Bayesian Learning of Robot Behaviors from Demonstration

Stéphane Magnenat, Cédric Pradalier, and Francis Colas. In workshop Bayesian Nonparametric Models For Reliable Planning And Decision-Making Under Uncertainty, NIPS 2012, Lake Tahoe, NV, USA, December 8, 2012.

Autonomous Construction of a Roofed Structure: Synthesizing Planning and Stigmergy on a Mobile Robot

Stefan Wismer, Gregory Hitz, Michael Bonani, Alexey Gribovskiy, and Stéphane Magnenat. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), pages 5436–5437, Vilamoura, Algarve, Portugal, October 7–12, 2012, DOI: 10.1109/IROS.2012.6386278.

Autonomous construction using scarce resources in unknown environments

Stéphane Magnenat, Roland Philippsen, and Francesco Mondada. In Autonomous Robots, 33(4), pages 467–485, November, 2012, DOI: 10.1007/s10514-012-9296-x.

A Programming Workshop using the Robot "Thymio II": The Effect on the Understanding by Children

Stéphane Magnenat, Fanny Riedo, Michael Bonani, and Francesco Mondada. In IEEE International Workshop on Advanced Robotics and its Social Impacts, pages 24–29, Munich, Germany, May 21–23, 2012, DOI: 10.1109/ARSO.2012.6213393.

Comparison of nearest-neighbor-search strategies and implementations for efficient shape registration

Jan Elseberg, Stéphane Magnenat, Roland Siegwart, Andreas Nüchter. In Journal of Software Engineering for Robotics, 3(1), pages 2–12, March 2012.

Integration of Online Learning into HTN Planning for Robotic Tasks

Stéphane Magnenat, Jean-Cédric Chappelier, and Francesco Mondada. In AAAI Spring Symposia, Designing Intelligent Robots: Reintegrating AI, Stanford University, Palo Alto, USA, March 26–28, 2012.

Swarmanoid: a novel concept for the study of heterogeneous robotic swarms

Marco Dorigo, Dario Floreano, Luca Maria Gambardella, Francesco Mondada, Stefano Nolfi, Tarek Baaboura, Mauro Birattari, Michael Bonani, Manuele Brambilla, Arne Brutschy, Daniel Burnier, Alexandre Campo, Anders Lyhne Christensen, Antal Decugnière, Gianni Di Caro, Frederick Ducatelle, Eliseo Ferrante, Alexander Förster, Jerome Guzzi, Valentin Longchamp, Stéphane Magnenat, Javier Martinez Gonzales, Nithin Mathews, Marco Montes de Oca, Rehan O’Grady, Carlo Pinciroli, Giovanni Pini, Philippe Rétornaz, James Roberts, Valerio Sperati, Timothy Stirling, Alessandro Stranieri, Thomas Stützle, Vito Trianni, Elio Tuci, Ali Emre Turgut, and Florian Vaussard. In IEEE Robotics & Automation Magazine, 20(4), pages 60–71, 2012, DOI: 10.1109/MRA.2013.2252996.


Towards a benchmark for RGB-D SLAM evaluation

Jürgen Sturm and Stéphane Magnenat and Francis Colas and Daniel Cremers and Nikolas Engelhard and Roland Siegwart and François Pomerleau and Wolfram Burgard. In Proc. of the RGB-D Workshop on Advanced Reasoning with Depth Cameras at Robotics: Science and Systems Conf. (RSS), Los Angeles, USA, June 27, 2011.

Towards Adaptive Robotic Green Plants

Janine Stocker, Aline Veillat, Stéphane Magnenat, Francis Colas and Roland Siegwart. In Towards Autonomous Robotic Systems, LNCS vol. 6856/2011, pages 422–423, Sheffield, United Kingdom, August 31–September 2, 2011, DOI: 10.1007/978-3-642-23232-9_58.

Tracking a Depth Camera: Parameter Exploration for Fast ICP

François Pomerleau, Stéphane Magnenat, Francis Colas, Ming Liu, and Roland Siegwart. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), pages 3824–3829, San Francisco, USA, September 25–30, 2011, DOI: 10.1109/IROS.2011.6094861.

Designing and sharing activity recognition systems across platforms: methods from wearable computing

Daniel Roggen, Stéphane Magnenat, Markus Waibel, and Gerhard Tröster. In IEEE Robotics & Automation Magazine, Special Issue Towards a WWW for Robots, 18(2), pages 83–95, June, 2011, DOI: 10.1109/MRA.2011.940992.

ASEBA: A Modular Architecture for Event-Based Control of Complex Robots

Stéphane Magnenat, Philippe Rétornaz, Michael Bonani, Valentin Longchamp, and Francesco Mondada. In IEEE/ASME Transactions on Mechatronics, 16(2), pages 321–329, April, 2011, DOI: 10.1109/TMECH.2010.2042722.


Physical interactions in swarm robotics, the hand-bot case study

Michael Bonani, Philippe Rétornaz, Stéphane Magnenat, Hannes Bleuler, Francesco Mondada. In 10th International Symposium on Distributed Autonomous Robotic Systems, pages 585–595, Lausanne, Switzerland, November 1–3, 2010, DOI: 10.1007/978-3-642-32723-0_42.

Design of Magnetic Switchable Device (MSD) and applications in climbing robot

Frédéric Rochat, Patrick Schoeneich, Michael Bonani, Stéphane Magnenat, Francesco Mondada, Hannes Bleuler, and Christophe Hürzeler. In 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, pages 375–382, Nagoya, Japan, August 31–September 3, 2010.

The MarXbot, a Miniature Mobile Robot Opening new Perspectives for the Collective-robotic Research

Michael Bonani, Valentin Longchamp, Stéphane Magnenat, Philippe Rétornaz, Daniel Burnier, Gilles Roulet, Florian Vaussard, Hannes Bleuler, and Francesco Mondada. In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), pages 4187–4193, Taipei, Taiwan, October 18–22, 2010, DOI: 10.1109/IROS.2010.5649153.

Affordable SLAM through the Co-Design of Hardware and Methodology

Stéphane Magnenat, Valentin Longchamp, Michael Bonani, Philippe Rétornaz, Paolo Germano, Bleuler, Hannes, and Francesco Mondada. In Proceedings of the 2010 IEEE International Conference on Robotics and Automation, pages 5395–5401, Anchorage, Alaska, May 3–8, 2010, DOI: 10.1109/ROBOT.2010.5509196.


Planner9, a HTN planner distributed on groups of miniature mobile robots

Stéphane Magnenat, Martin Voelkle, Francesco Mondada. In Proceedings of the Second International Conference on Intelligent Robotics and Applications (ICIRA), pages 1013–1022, Singapore, December 16–18, 2009, DOI: 10.1007/978-3-642-10817-4_99.

The Hand-bot, a Robot Design for Simultaneous Climbing and Manipulation

Michael Bonani, Stéphane Magnenat, Philippe Rétornaz, Francesco Mondada. In Proceedings of the Second International Conference on Intelligent Robotics and Applications (ICIRA), pages 11–22, Singapore, December 16–18, 2009, DOI: 10.1007/978-3-642-10817-4_2.

Segregation in swarms of mobile robots based on the Brazil nut effect

Roderich Groß, Stephane Magnenat, and Francesco Mondada. In Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4349–4356, St. Louis, MO, USA, October 11–15, 2009, DOI: 10.1109/IROS.2009.5353942.

Aseba Meets D-Bus: From the Depths of a Low-Level Event-Based Architecture into the Middleware Realm

Stéphane Magnenat and Francesco Mondada. In IEEE TC-Soft Workshop on Event-based Systems in Robotics (EBS-RO), St. Louis, MO, USA, October 15, 2009.

Towards an Autonomous Evolution of Non-Biological Physical Organisms

Roderich Groß, Stephane Magnenat, Lorenz Küchler, Vasili Massaras, Michael Bonani, Francesco Mondada. In Proceedings of the 10th European Conference on Artificial Life, pages 173–180, Budapest, Hungary, September 13–16, 2009, DOI: 10.1007/978-3-642-21283-3_22.

The e-puck, a Robot Designed for Education in Engineering

Francesco Mondada, Michael Bonani, Xavier Raemy, James Pugh, Christopher Cianci, Adam Klaptocz, Stéphane Magnenat, Jean-Christophe Zufferey, Dario Floreano, Alcherio Martinoli. In 9th Conference on Autonomous Robot Systems and Competitions - Robotica, pages 59–65, Castelo Branco, Portugal, May 7, 2009.


Scripting the swarm: event-based control of microcontroller-based robots

Stéphane Magnenat, Philippe Rétornaz, Basilio Noris, and Francesco Mondada. In International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Workshop Proceedings, ISBN: 978-88-95872-01-8, Venice, Italy, November 3–7, 2008.

Aseba-Challenge: An Open-Source Multiplayer Introduction to Mobile Robots Programming

Stéphane Magnenat, Basilio Noris, and Francesco Mondada. In Second International Conference on Fun and Games, Lecture Notes in Computer Science, pages 65–74, Springer Verlag, Eindhoven, The Netherland, October 20–21, 2008, DOI: 10.1007/978-3-540-88322-7.

Ishtar: a flexible and lightweight software for remote data access

Antoine Beyeler, Stéphane Magnenat, Alexandre Habersaat. In European Micro Air Vehicle Conference (EMAV), Braunschweig, Germany, July 8–10, 2008.


ASEBA, an event-based middleware for distributed robot control

Stéphane Magnenat, Valentin Longchamp, Francesco Mondada. In Workshops DVD of International Conference on Intelligent Robots and Systems (IROS), San Diego, California, USA, October 29–November 2, 2007.

Evolutionary Conditions for the Emergence of Communication in Robots

Dario Floreano, Sara Mitri, Stéphane Magnenat, Laurent Keller. In Current Biology, 17(6), pages 1–6, 2007, DOI: 10.1016/j.cub.2007.01.058.


Division of labour and colony efficiency in social insects: effects of interactions between genetic architecture, colony kin structure and rate of perturbations

Markus Waibel, Dario Floreano, Stéphane Magnenat, Laurent Keller. In Proceedings of the Royal Society B., 273(1595), pages 1815–1823, 2006, DOI: 10.1098/rspb.2006.3513.


Superlinear Physical Performances in a SWARM-BOT

Francesco Mondada, Michael Bonani, André Guignard, Stéphane Magnenat, Christian Studer, Dario Floreano. In Proceedings of the VIIIth European Conference on Artificial Life, Lecture Notes in Artificial Intelligence, pages 282–291. Springer Verlag, Canterbury, United Kingdom, September 5-9, 2005, DOI: 10.1007/11553090.


Physical connections and cooperation in swarm robotics

Francesco Mondada, Michael Bonani, Stéphane Magnenat, André Guignard, Dario Floreano. In Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS8), pages 53–60, IOS Press, Amsterdam, The Netherland, March 10–14, 2004.

Please note that when provided, the DOI points to the original publication on the web site of the publisher.

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