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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| Vydáno v: | IEEE Open Journal of Control Systems Ročník 2; s. 1 - 13 |
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| Médium: | Journal Article |
| Jazyk: | angličtina |
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IEEE
01.01.2023
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| ISSN: | 2694-085X, 2694-085X |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Wilson, Sean Egerstedt, Magnus |
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| References | ref13 ref12 ref15 ref14 Dosovitskiy (ref8) 2017 ref11 ref10 Project (ref16) 2021 ref2 ref1 Box (ref9) 1979 ref19 Organization (ref18) 2021 Wilson (ref21) 2019 ref24 ref23 ref26 ref25 ref22 ref28 ref27 ref29 Freese (ref4) 2010 ref7 Organization (ref17) 2021 Ingle (ref20) 2013; 6 ref3 ref6 Makoviychuk (ref5) 2021 |
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| SubjectTerms | 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 |
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| Title | The Robotarium: A Remotely-Accessible, Multi-Robot Testbed for Control Research and Education |
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