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Safe, Remote-Access Swarm Robotics Research on the Robotarium

Pickem, Daniel and Wang, Li and Glotfelter, Paul and Diaz-Mercado, Yancy and Mote, Mark and Ames, Aaron and Feron, Eric and Egerstedt, Magnus (2016) Safe, Remote-Access Swarm Robotics Research on the Robotarium. . (Unpublished)

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This paper describes the development of 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-agent 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 as well as connects these to the particular considerations one must take when making complex hardware remotely accessible. In particular, safety must be built in already at the design phase without overly constraining which coordinated control programs the users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Ames, Aaron0000-0003-0848-3177
Feron, Eric0000-0001-7717-2159
Egerstedt, Magnus0000-0003-4213-5299
Additional Information:This research was sponsored by Grants No. 1531195 and 1544332 from the U.S. National Science Foundation.
Funding AgencyGrant Number
Subject Keywords:Multi-robot testbeds, remote accessibility, barrier certificates, safety, collision avoidance, networked control
Record Number:CaltechAUTHORS:20190201-160852451
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92606
Deposited By: George Porter
Deposited On:04 Feb 2019 15:43
Last Modified:21 Nov 2020 00:00

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