The natuRO Lab from the Department of Automatic Control and Systems Engineering at the Politehnica University of Bucharest works on interdisciplinary research projects at the interface of biological sciences, engineering and robotics with the goal of a greater understanding of biological information processing and creating of intelligent computational systems.
This page presents our results in the use of membrane computing models for the control of single and multiple robots. Here you will find information about our latest membrane computing simulators, Lulu and PeP, and a selection of our recent papers on membrane computing in robot control. Our latest book has a dedicated page.
We also host the International Membrane Computing Society's Bulletin.


Catalin is Professor of Modeling and Simulation, Cognitive Robotics, and Bioinformatics at the Department of Automatic Control and Systems Engineering.

Andrei is a Ph.D. student under the supervision of Prof. Buiu. His thesis is about the distributed control of robotic swarms using membrane computing models.

Corina is a mathematician and  Lecturer at the Faculty of Applied Sciences. She works on extensions of PCol automata.  

Simona is a mathematician and Lecturer at the Faculty of Applied Sciences. She develops new membrane systems with innate immunity. 

Ana is a former member of our Group. She graduated Computer Science at our University and Biology at the University of Bucharest. She is now with the University of Boston.

Cristian is a former member of our Group. He graduated Computer Science at our University and is now a postdoctoral fellow with the Laboratory of Information and Decision Systems, MIT.

Our papers

Last updated November 5, 2016

A. G. Florea, C. Buiu. Membrane computing for Distributed Control of Robotic Swarms: Emerging Research and Opportunities, IGI Global, USA, in press, 2016

A. G. Florea, C. Buiu. Development of a software simulator for P colonies. Applications in robotics, International Journal of Unconventional Computing, Vol. 12, 2-3, pp. 189-205, 2016

A. G. Florea, C. Buiu. Synchronized dispersion of robotic swarms using XP colonies, Proceedings of the 8th International Conference on Electronics, Computers, and Artificial Intelligence ECAI 2016, Ploieşti, June 2016

C. Buiu, C. Vasile, O. Arsene. Development of membrane controllers for mobile robots, Information Sciences (ISSN 0020-0255, IF=3.893, RIS=1.29301), Vol. 187, March 2012, pp. 33-51, doi:10.1016/j.ins.2011.10.007, 2012

Ana Pavel, C. Buiu. Using enzymatic numerical P systems for modeling mobile robot controllers, Vol. 11, No.3, September 2012, pp. 387-393, doi: 10.1007/s11047-011-9286-5, Natural Computing (ISSN 1567-7818, IF=0.539, RIS=N/A), 2012

O. Arsene, C. Buiu, Nirvana Popescu. SNUPS – A Simulator for Numerical Membrane Computing, International Journal of Innovative Computing, Information and Control (ISSN 1349-4198), Volume 7, Number 6, June 2011, pp. 3509-3522, 2011

C. Buiu, A.B. Pavel, C. Vasile, I. Dumitrache. Perspectives of using membrane computing in the control of mobile robots, Proceedings of Extended Abstracts Presented at The International Conference Beyond AI: Interdisciplinary Aspects of Artificial Intelligence, Pilsen, Czech Republic, December 8–9, 2011, pp. 21-26, 2011

A.B. Pavel, O. Arsene, C. Buiu. Enzymatic Numerical P Systems – a New Class of Membrane Computing Systems, The IEEE Fifth International Conference on Bio-Inspired Computing: Theories and Applications (BIC-TA 2010), ISBN 978-1-424464-37-1, Liverpool Hope University, Liverpool, United Kingdom, September 8 - 10, pp. 1331-1336, DOI:10.1109/BICTA.2010.5645071, 2010 

Our software

Last updated November 5, 2016


Open-source numerical P systems simulator

PeP* is an open-source simulator able to simulate standard and enzymatic numerical P systems. PeP can be easily interfaced to real robots or robot simulators.

* Pep = energy, vigor, animation (Amer.)


Open-source P colony and P swarm simulator

Lulu* is an open-source
project that allows the simulation of P
colonies and P swarms. It can be easily interfaced with robot simulators and real robots. 

* Lulu = remarkable or outstanding person or thing (Amer.)


The first numerical P systems simulator

SNUPS*   is a Java application for simulating standard and enzymatic numerical P systems.

* SNUPS = Simulator of NUmerical P Systems