Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published June 2017 | Submitted
Book Section - Chapter Open

The Robotarium: A remotely accessible swarm robotics research testbed

Abstract

This paper describes the Robotarium - a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-robot research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and operation of the Robotarium and discusses the considerations one must take when making complex hardware remotely accessible. In particular, safety must be built into the system already at the design phase without overly constraining what coordinated control programs users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.

Additional Information

© 2017 IEEE. This research was sponsored by grants No. 1531195 and 1544332 from the U.S. National Science Foundation. We would like to thank Kaveh Fathian, Nicholas Gans, and Mark Spong from the University of Texas in Dallas, Hyongju Park and Seth Hutchinson from the University of Illinois in Urbana-Champaign and Junya Yamauchi and Masayuki Fujita from the Tokyo Institute of Technology for their participation in the early release of the Robotarium.

Attached Files

Submitted - 1609.04730.pdf

Files

1609.04730.pdf
Files (3.8 MB)
Name Size Download all
md5:7ae9f9956c8a8600013b3d977a077dc8
3.8 MB Preview Download

Additional details

Created:
August 19, 2023
Modified:
October 20, 2023