The Robotarium: A remotely accessible swarm robotics research testbed

By Daniel Pickem, Paul Glotfelter, Li Wang, Mark L. Mote, Aaron D. Ames, Eric M. Feron, Magnus Egerstedt. IEEE International Conference on Robotics and Automation, 2016

366 citations recorded by the source corpus.

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.

Subfields: Computer Networks and Communications, Control and Systems Engineering, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/b8495ed03a0163f056fa372f55a52ec491cb2869

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Citations in the corpus

TriFinger: An Open-Source Robot for Learning Dexterity (2020, background): “Recently, there have been renewed efforts in this direction: For instance, Pickem et al. (2017) propose the R OBOTAR - IUM , a real-world benchmark for mobile robots, and Grim-minger et al. (2020) propose an open-source quadruped.”
Control Barrier Functions: Theory and Applications (2019, background): “The utility of this new formulation of control barrier functions is evidenced by the application domains it has been applied to since its inception, including: automotive systems [22], [23], [24], mulit-robot systems [25], [26], [27], quadrotors [28], [29] and robotic systems including walking robot”
Interactive Gibson Benchmark: A Benchmark for Interactive Navigation in Cluttered Environments (2019, background): “[29] provide remote access for users to run comparable experiments on the same physical robots.”
Nonsmooth Barrier Functions With Applications to Multi-Robot Systems (2017, background): “such safety requirements, and, subsequently, barrier functions have been used to encode a variety of system constraints across different domains, such as adaptive cruise control [5], [6], collision avoidance for ground vehicles [7], unmanned aerial vehicles [8], and remote-access robotics testbeds [”