P$$\mathrm {\Phi }$$SS: An Open-Source Experimental Setup for Real-World Implementation of Swarm Robotic Systems in Long-Term Scenarios

Arvin, Farshad; Krajník, Tomáš; Turgut, Ali Emre

doi:10.1007/978-3-030-14984-0_26

Cited by 2 publications

(1 citation statement)

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“…Mona has been developed for use in the research of swarm robotics [22]. Experiments were conducted in a rectangular arena with dimensions of 1.4 m × 0.9 m which has been developed for study on long-term swarm robotics scenarios [23]. An open-source multi-robot tracking system [24] which tracks both the position and orientation of the robot using an overhead camera was used.…”

Section: Resultsmentioning

confidence: 99%

Cooperative Control of Integrator Negative Imaginary Systems with Application to Rendezvous Multiple Mobile Robots

Skeik

Arvin

et al. 2019

2019 12th International Workshop on Robot Motion and Control (RoMoCo)

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This paper contributes to the solution of mobile robots rendezvous problem via the negative imaginary (NI) systems theory. Cooperative control strategies are proposed for integrator NI systems. These control strategies are beneficial because they can be directly applied to wheeled mobile robots. First, we show that the NI property is preserved for multiple multi-input multi-output (MIMO) integrator systems with directional information flow that is balanced and strongly connected. Then, we derive conditions that guarantee output consensus and output tracking for strongly connected, balanced and directed networks of integrators subject to energy-bounded disturbances using the NI internal stability theorems. Finally, experimental and simulation results are provided to validate the effectiveness of the proposed NI cooperative tracking results to achieve rendezvous of multiple nonholonomic wheeled mobile robots.

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Section: Resultsmentioning

confidence: 99%

Cooperative Control of Integrator Negative Imaginary Systems with Application to Rendezvous Multiple Mobile Robots

Skeik

Arvin

et al. 2019

2019 12th International Workshop on Robot Motion and Control (RoMoCo)

Self Cite

View full text Add to dashboard Cite

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A Versatile Vision-Pheromone-Communication Platform for Swarm Robotics

Liu

Sun

et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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This paper describes a versatile platform for swarm robotics research. It integrates multiple pheromone communication with a dynamic visual scene along with real time data transmission and localization of multiple-robots. The platform has been built for inquiries into social insect behavior and bio-robotics. By introducing a new research scheme to coordinate olfactory and visual cues, it not only complements current swarm robotics platforms which focus only on pheromone communications by adding visual interaction, but also may fill an important gap in closing the loop from bio-robotics to neuroscience. We have built a controllable dynamic visual environment based on our previously developed ColCOSΦ (a multi-pheromones platform) by enclosing the arena with LED panels and interacting with the micro mobile robots with a visual sensor. In addition, a wireless communication system has been developed to allow transmission of real-time bi-directional data between multiple micro robot agents and a PC host. A case study combining concepts from the internet of vehicles (IoV) and insect-vision inspired model has been undertaken to verify the applicability of the presented platform, and to investigate how complex scenarios can be facilitated by making use of this platform.

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P$$\mathrm {\Phi }$$SS: An Open-Source Experimental Setup for Real-World Implementation of Swarm Robotic Systems in Long-Term Scenarios

Cited by 2 publications

References 61 publications

Cooperative Control of Integrator Negative Imaginary Systems with Application to Rendezvous Multiple Mobile Robots

Cooperative Control of Integrator Negative Imaginary Systems with Application to Rendezvous Multiple Mobile Robots

A Versatile Vision-Pheromone-Communication Platform for Swarm Robotics

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