The Robotarium: A remotely accessible swarm robotics research testbed

Daniel Pickem, Paul Glotfelter, Li Wang, Mark Mote, Aaron Ames, Eric Feron, Magnus Egerstedt

Research output: Chapter in Book/Report/Conference proceedingConference contribution

188 Scopus citations

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.
Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1699-1706
Number of pages8
ISBN (Print)9781509046331
DOIs
StatePublished - Jul 21 2017
Externally publishedYes

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