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ChMindstorms for Controlling Multi-Robot Systems

[+] Author Affiliations
Binsen Qian, Harry H. Cheng

University of California, Davis, CA

Paper No. DETC2015-47862, pp. V009T07A078; 8 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5719-9
  • Copyright © 2015 by ASME


This article describes the design and mechanism of ChMindstorms, a cross-platform multi-robot controller, for controlling and programming Lego Mindstorms robots, NXT and EV3, with C/C++ code. Heterogeneous multi-robot systems are facing unique control and programming challenges due to cooperation between different types of robots. ChMindstorms not only has a Graphic Users Interface (GUI) for controller each robot, but also provides Application Programming Interfaces (APIs) integrated with Ch, a C/C++ interpreter, so that robots can be controlled remotely by C/C++ code without compilation. In addition, different types of robots can cooperate with each other effectively, such as sharing sensing abilities. Debugging process is also simplified since a debugger is implemented in Ch so that even beginners can also easily program Lego robots.

Copyright © 2015 by ASME
Topics: Robots



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