MOSAIX: a Swarm of Robot Tiles for Social Human-Swarm Interaction

Alhafnawi, Merihan; Hunt, Edmund R.; Lemaignan, Séverin; O'Dowd, Paul; Hauert, Sabine

doi:10.1109/icra46639.2022.9811723

Cited by 7 publications

(3 citation statements)

References 24 publications

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“…For its tracking system, the Robotarium leverages a Vicon Vantage V16 tracking system 3 . Originally, the Robotarium used a visual tracking system consisting of ArUco tags [19] and a USB camera.…”

Section: B Hardware Infrastructurementioning

confidence: 99%

“…The steady improvement of technology pertaining to computation, sensing, communication, actuation, and power storage has led to the creation of many relatively low-cost, small robotic platforms capable of acting in collectives [1], [2], [3]. Even with this trend, many multi-robot control algorithms are still validated in simulation instead of with hardware.…”

Section: Introductionmentioning

confidence: 99%

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

Wilson

Egerstedt

2023

IEEE Open J. Control. Syst.

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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 highfidelity 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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Section: B Hardware Infrastructurementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

Wilson

Egerstedt

2023

IEEE Open J. Control. Syst.

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“…Systems that implement swarm intelligence possess key properties such as self-organization, scalability, and robustness [7]. The potential applications for swarm robotics are endless, from the medical field with microrobotic swarms that can significantly increase dose delivery [8], to helping humans in social tasks such as 2 brainstorming [9], and underwater exploration [10]. However, it has proven often challenging to predict how robotic swarms behave in an experimental setup using simulations, a step that is needed before robotics can be implemented in real life scenarios: this discrepancy is often referred to as "reality gap" [11].…”

Section: Introductionmentioning

confidence: 99%

Testing the reality gap with kilobots performing two ant-inspired foraging behaviours

Ellis,

Caravaggio,

Kelly

et al. 2024

Preprint

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Robotics looks to nature for inspiration to perform effectively in unstructured environments and can be used as a platform to test biological hypotheses. Social animals often share information about food source locations: one example is tandem running in ants, where a leader guides a naive recruit to a known profitable food site. This is extremely advantageous as it allows the sharing of important information among colony members, but it also has costs, such as waiting time inside the nest when no leaders are around, and a reduced walking speed for the tandem couple compared to individual ants. Whether and when these costs outweigh the benefits is not well understood as it is challenging to observe complex social behaviours in nature. We developed two kilobot-based approaches to compare tandem running and lone scout foraging, where an ant searches for food without any previous knowledge of its location: one approach based on real-life experiments and one on computer simulations. We investigated the role that the size of the search arena played in the effectiveness of foraging. Tandem pairs were faster for all three arena sizes; however, this result was reversed in the simulations. These results highlight the inconsistencies between simulation and real-life kilobot experiments, previously reported for other systems and known as reality gap. Further testing is needed to inform on whether robotic applications should utilise agents with the same roles and capabilities for search, detection and repair-type tasks as simulations, or whether instead the two approaches should be treated separately.

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