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Range and Bearing Control of an Ensemble of Robots

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Range and Bearing Control of an Ensemble of Robots

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17 Sep 2012 (Updated )

Game for steering many robots to fire suction-cup darts at a target.(note: still under development.)

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Description

Jason Fox uses one joystick to simultaneously steer 64 robots in order to fire suction-cup darts at his big sister. Aaron Becker's research shows that this is possible --- provided each robot is slightly different. The video shows a sequence of moves that achieve this goal (paper in preparation). (http://www.youtube.com/watch?v=EXlFXKJX8vE)

Also includes all the code used for this paper, including motion planning code for an ensemble of unicycles and collision checking software

With thanks to Bill Amend and Jason Fox: http://www.foxtrot.com/2012/01/01082012

A. Becker, "Ensemble Control of Robotic Systems," PhD Thesis , 2012.
overview: http://www.youtube.com/watch?v=_v4KUBfzbv0


hardware experiments: http://www.youtube.com/watch?v=50gb5WMqJbY

Note that the above video does not incorporate collision or obstacle avoidance, which was demonstrated in http://www.youtube.com/watch?v=5W8Sc2FwhxM

Acknowledgements

This file inspired Feedback Control Of Many Differential Drive Robots With Uniform Control Inputs.

Required Products MATLAB
MATLAB release MATLAB 7.13 (R2011b)
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Updates
21 Sep 2012

Added supporting code (motion planner for ensemble and code to generate graphs and plots for paper)

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