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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



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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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). (

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:

A. Becker, "Ensemble Control of Robotic Systems," PhD Thesis , 2012.

hardware experiments:

Note that the above video does not incorporate collision or obstacle avoidance, which was demonstrated in


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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21 Sep 2012

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

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