Testbeds for ubiquitous robotics: A survey

Jimenez-Gonzalez, Adrian; Dios, J.R. Martínez-de; Ollero, A.

doi:10.1016/j.robot.2013.07.006

Cited by 39 publications

(29 citation statements)

References 48 publications

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“…Numerous remotely accessible multi-robot testbeds with a focus on robot mobility have been proposed over the yearsfor example the Mobile Emulab [1], or the HoTDeC testbed [7]. A comprehensive list of multi-robot testbeds can be found in [5]. Generally speaking, testbeds in this domain contain robots that occupy a significantly larger footprint and are more expensive than the Robotarium robots, which is an inherent obstruction to using large numbers of robots.…”

Section: A Multi-robot Testbedsmentioning

confidence: 99%

The Robotarium: A remotely accessible swarm robotics research testbed

Pickem¹,

Paul²,

Wang³

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

316

206

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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.

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Section: A Multi-robot Testbedsmentioning

confidence: 99%

The Robotarium: A remotely accessible swarm robotics research testbed

Pickem¹,

Paul²,

Wang³

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

316

206

View full text Add to dashboard Cite

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“…(3) 8 A dedicated Raspberry Pi Camera Module costs less than $ 30; its miniature form factor allows it to be easily fitted onto the Minicar.…”

Section: Testbedmentioning

confidence: 99%

A Fleet of Miniature Cars for Experiments in Cooperative Driving

Hyldmar

Prorok

2019

2019 International Conference on Robotics and Automation (ICRA)

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We introduce a unique experimental testbed that consists of a fleet of 16 miniature Ackermann-steering vehicles. We are motivated by a lack of available low-cost platforms to support research and education in multi-car navigation and trajectory planning. This article elaborates the design of our miniature robotic car, the Cambridge Minicar, as well as the fleet's control architecture. Our experimental testbed allows us to implement state-of-the-art driver models as well as autonomous control strategies, and test their validity in a real, physical multi-lane setup. Through experiments on our miniature highway, we are able to tangibly demonstrate the benefits of cooperative driving on multi-lane road topographies. Our setup paves the way for indoor large-fleet experimental research.

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“…Noteworthy surveys are accessible in Jiménez- González et al (2013) and Horneber and Hergenroder (2014).…”

Section: Further Testbedsmentioning

confidence: 99%

Testbeds for WSNs

Fahmy

2016

Signals and Communication Technology

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Simulation is imagining … Testbed is sore reality. WSN Testbeds PrinciplesAs iterated throughout this book, WSNs are large-scale distributed embedded systems incorporating small, limited energy, and resource constrained sensor nodes communicating over wireless media. Because of their massively distributed nature, the design, implementation and evaluation of sensor network applications, middleware and communication protocols are difficult tasks. The first design steps can often be made with the help of simulations; however, they frequently force the designer to make non-realistic assumptions about traffic, failure patterns and topologies. The coming after steps of implementation, and evaluation of application performance, as well as assessment of error resilience, and other nonfunctional properties, require the use of real hardware, realistic environments and realistic experimental setups.Practically, real experiments with distributed systems like WSNs become very cumbersome if the number of nodes exceeds a few dozens. In fact, all the phases of the experiment are almost infeasible without a targeted, specialized support, specifically:

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Testbeds for ubiquitous robotics: A survey

Cited by 39 publications

References 48 publications

The Robotarium: A remotely accessible swarm robotics research testbed

The Robotarium: A remotely accessible swarm robotics research testbed

A Fleet of Miniature Cars for Experiments in Cooperative Driving

Testbeds for WSNs

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