The Robotarium: A Remotely-Accessible, Multi-Robot Testbed for Control Research and Education

In robotic research and education, the cost in terms of money, expertise, and time required to instantiate and maintain robotic testbeds can prevent researchers and educators from including hardware based experimentation in their laboratories and classrooms. This results in robotic algorithms often...

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Bibliographic Details
Published in:IEEE Open Journal of Control Systems Vol. 2; pp. 1 - 13
Main Authors: Wilson, Sean, Egerstedt, Magnus
Format: Journal Article
Language:English
Published: IEEE 01.01.2023
Subjects:
Agent-Based Systems
Computational modeling
Control systems
Engineering for Robotic Systems
Hardware
Heuristic algorithms
Methods and Tools for Robot System Design
Mobile robots
Multi-Robot Systems
Robot sensing systems
Robots
Software-Hardware Integration for Robot Systems
Swarm Robotics
Wheeled Robots
ISSN:2694-085X, 2694-085X
Online Access:Get full text
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Summary:In robotic research and education, the cost in terms of money, expertise, and time required to instantiate and maintain robotic testbeds can prevent researchers and educators from including hardware based experimentation in their laboratories and classrooms. This results in robotic algorithms often being validated by low-fidelity simulation due to the complexity and computational demand required by high-fidelity simulators. Unfortunately, these simulation environments often neglect real world complexities, such as wheel slip, actuator dynamics, computation time, communication delays, and sensor noise. The Robotarium provides a solution to these problems by providing a state-of-the-art, multi-robot research facility to everyone around the world free of charge for academic and educational purposes. This paper discusses the remote usage of the testbed since its opening in 2017, details the testbeds design, and provides a brief tutorial on how to use it.
ISSN:2694-085X
2694-085X
DOI:10.1109/OJCSYS.2022.3231523