No abstract

Swarms of coupled mobile agents subject to inter-agent wireless communication delays are known to exhibit multiple dynamic patterns in space that depend on the strength of the interactions and the magnitude of the communication delays. We experimentally demonstrate communication delay-induced bifurcations in the spatiotemporal patterns of robot swarms using two distinct hardware platforms in a mixed reality framework. Additionally, we make steps toward experimentally validating theoretically predicted parameter regions where transitions between swarm patterns occur. We show that multiple rotation patterns persist even when collision avoidance strategies are incorporated, and we show the existence of multi-stable, co-existing rotational patterns not predicted by usual mean field dynamics. Our experiments are the first significant steps toward validating existing theory and the existence and robustness of the delay-induced patterns in real robotic swarms.

The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along trajectories and enable docking to neighboring modules, but have a non-constant cycle time and cannot react to dynamic environments. In this work we present a thrust direction control method for the Modboat that significantly improves the timeresponse of the system and increases the accuracy with which it can be controlled. We experimentally demonstrate that this method can be used to perform more compact maneuvers than prior methods or comparable robots can. We also present an extension to the controller that solves the reaction wheel problem of unbounded actuator velocity, and show that it further improves performance.