Robotarium's robots remotely through the web interface.
Note that any script or algorithm developed in the
simulator can be run directly on the Robotarium.
Furthermore, the simulator has been designed to closely
approximate the physical behavior of the project’s robots.
There are a couple articles that outline some canonical
swarm algorithms at length. They include the mathematical
derivation, code implementation, and resulting video of the
robots in action. These are intended to act as a blueprint to
develop your own algorithms.
Rendezvous is a network control algorithm which
allows a collection of robots to meet at the centroid of their
initial positions. The available document is a mathematical
companion to the Rendezvous sample code for the
Robotarium. It summarizes the mathematics behind the
consensus algorithm and highlights the transfer of the
formal specification to the Robotarium’s MATLAB API.
Additionally, this document contains experimental data
from the Robotarium’s robots and a video.
Formation control is a network control algorithm which
allows a collection of robots to form and maintain a
particular shape in a distributed manner. This document
provides a mathematical derivation and an implementation
of sample code to implement formation control for the
Robotarium. It summarizes the mathematics behind a
decentralized formation control algorithm and highlights
the transfer of the formal specification to the Robotarium’s
MATLAB API. This document also contains experimental
data from the Robotarium’s robots and a video.
The Robotarium currently has around 300 users from
all walks of life, including groups from Stanford, Arizona
State, and even the Girl Scouts of America, which are using
the Robotarium to get girls interested in science,
technology, engineering, and math (STEM) programs. As
user numbers grow, the demand on the Robotarium’s
equipment does too. Rather than seeing that as a
limitation, the project team takes it as a challenge.
“We are excited because as our user base continues to
grow and we introduce more and more robots, I think
we're going to push the limits of Vicon,” said Dr. Wilson.
“This is new ground for us, and we intend to push the
camera system to the limit to see just how many objects
the software can track at once. It’s going to be exciting.”
If you’ve been wanting to run your own swarm of
robots, now’s your chance! And you don’t even have to
spend a dime. SV
1. Pickem, D.; Glotfelter, P.; Wang, L.; Mote, M.; Ames,
A.; Feron, E. & Egerstedt, M., "The Robotarium: A
remotely accessible swarm robotics research testbed"
2017 IEEE International Conference on Robotics and
Automation (ICRA), Singapore (submitted, available as
2. Pickem, D.; Wang, L.; Glotfelter, P.; Diaz-Mercado, Y.;
Mote, M.; Ames, A.; Feron, E. & Egerstedt, M., "Safe,
Remote-Access Swarm Robotics Research on the
Robotarium," arXiv preprint arXiv:1604.00640, 2016
3. Pickem, D.; Lee, M.; Egerstedt, M. "The GRITSBot in
its natural habitat - A multi-robot testbed," 2015 IEEE
International Conference on Robotics and Automation
(ICRA), Seattle, WA, 2015, pp. 4062-4067 (full text).
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