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The Robotarium: A remotely accessible swarm robotics research testbed

Pickem, Daniel and Glotfelter, Paul and Wang, Li and Mote, Mark and Ames, Aaron and Feron, Eric and Egerstedt, Magnus (2017) The Robotarium: A remotely accessible swarm robotics research testbed. In: 2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 1699-1706. ISBN 978-1-5090-4633-1. https://resolver.caltech.edu/CaltechAUTHORS:20190201-160906310

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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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2017.7989200DOIArticle
https://arxiv.org/abs/1609.04730arXivDiscussion Paper
ORCID:
AuthorORCID
Ames, Aaron0000-0003-0848-3177
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.
Funders:
Funding AgencyGrant Number
NSFECCS-1531195
NSFCNS-1544332
Record Number:CaltechAUTHORS:20190201-160906310
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190201-160906310
Official Citation:D. Pickem et al., "The Robotarium: A remotely accessible swarm robotics research testbed," 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 1699-1706. doi: 10.1109/ICRA.2017.7989200
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92611
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:04 Feb 2019 15:46
Last Modified:03 Oct 2019 20:46

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