TY - GEN
T1 - The Robotarium: A remotely accessible swarm robotics research testbed
AU - Pickem, Daniel
AU - Glotfelter, Paul
AU - Wang, Li
AU - Mote, Mark
AU - Ames, Aaron
AU - Feron, Eric
AU - Egerstedt, Magnus
N1 - Generated from Scopus record by KAUST IRTS on 2021-02-18
PY - 2017/7/21
Y1 - 2017/7/21
N2 - 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.
AB - 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.
UR - http://ieeexplore.ieee.org/document/7989200/
UR - http://www.scopus.com/inward/record.url?scp=85027984863&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2017.7989200
DO - 10.1109/ICRA.2017.7989200
M3 - Conference contribution
SN - 9781509046331
SP - 1699
EP - 1706
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
ER -