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Sensing and Estimation on a Modular Testbed for Swarm Robotics

[+] Author Affiliations
Gregory K. Fricke, Devendra P. Garg

Duke University, Durham, NC

Dejan Milutinović

University of California at Santa Cruz, Santa Cruz, CA

Paper No. DSCC2009-2723, pp. 195-202; 8 pages
doi:10.1115/DSCC2009-2723
From:
  • ASME 2009 Dynamic Systems and Control Conference
  • ASME 2009 Dynamic Systems and Control Conference, Volume 2
  • Hollywood, California, USA, October 12–14, 2009
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4893-7 | eISBN: 978-0-7918-3860-0
  • Copyright © 2009 by ASME

abstract

Collective robotics offers the promise of enhanced performance and robustness relative to that of individual robots, with decreased cost or time-to-completion for certain tasks. Having many degrees of freedom, the multi-robot control and estimation problems are challenging, specifically when the solutions require a great amount of communication among the robots. While numerical simulation is a critical tool in swarm robotics research, verification of obtained results under a physical realization of the swarm is far from routine. Therefore, we have developed and used a sensor-integrated testbed for the validation of cooperative-robotics algorithms, observation of swarm behavior, and measurement of system performance.

Copyright © 2009 by ASME
Topics: Robotics

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