Artistic pattern formation with multiple robots – Robot Swarm 11031

“Multi-robot system for artistic pattern formation” presented at ICRA 2011.
J. Alonso-Mora, A. Breitenmoser, M. Rufli, R. Siegwart, P. Beardsley.
ETH Zurich and Disney Research Zurich

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.

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