Arbitrary target patterns are represented with an optimal robot deployment, using a method that is independent of the number of robots. Furthermore, the trajectories are visually appealing in the sense of being smooth, oscillation free, and showing fast convergence. A distributed controller guarantees collision free trajectories while taking into account the kinematics of differentially driven robots. Experimental results are provided for a representative set of patterns, for a swarm of up to ten differentially-driven robots, and for fifty virtual robots in simulation.
Tagged: Robot Swarm
In current robotics research there is a vast body of work on algorithms and control methods for groups of decentralized cooperating robots, called a swarm or collective. These algorithms are generally meant to control collectives of hundreds or even thousands of robots; however, for reasons of cost, time, or complexity, they are generally validated in simulation only, or on a group of a few 10s of robots. To address this issue, we present Kilobot, a low-cost robot designed to make testing collective algorithms on hundreds or thousands of robots accessible to robotics researchers.