A primary factor limiting the development, testing, and validation of decentralized algorithms for large-scale multi-robot teams is the high cost of the available systems. When a successful test necessitates that an algorithm functions on dozens or even hundreds of robots simultaneously, a low price tag on each robot is crucial. This paper presents Spider-Bots, a low cost platform for testing and validating control algorithms for multi-robot swarms. The platform is comprised of centimeter-scale mobile robots that can communicate wirelessly and interact with their environment, along with easy to use software libraries. The resulting platform was validated by testing its ability to execute and record data from three separate algorithms: Set-point navigation, object manipulation, and collision avoidance.
- Dynamic Systems and Control Division
Spider Bots: A Low Cost Platform for Testing and Validating Cooperative Control Algorithms
Price, J, Laird, D, & Raptis, I. "Spider Bots: A Low Cost Platform for Testing and Validating Cooperative Control Algorithms." Proceedings of the ASME 2014 Dynamic Systems and Control Conference. Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems. San Antonio, Texas, USA. October 22–24, 2014. V001T14A005. ASME. https://doi.org/10.1115/DSCC2014-6041
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