Code covered by the BSD License  

Highlights from
Massive Uniform Manipulation: Control Large Populations of Simple Robots with a Common Input Signal

Be the first to rate this file! 6 Downloads (last 30 days) File Size: 15.5 KB File ID: #42889
image thumbnail

Massive Uniform Manipulation: Control Large Populations of Simple Robots with a Common Input Signal

by Aaron Becker

 

31 Jul 2013

rearranges n robots controlled to move in unison {up, down, left, right} using 1 obstacle

| Watch this File

File Information
Description

Roboticists, biologists, and chemists are now producing large populations of simple robots, but controlling large populations of robots with limited capabilities is difficult, due to communication and onboard-computation constraints.
 
We investigate control of mobile robots that move in a 2D workspace, focusing on a model that uses broadcast control inputs specified in the global reference frame. (see video: http://www.youtube.com/watch?v=5p_XIad5-Cw )
 
In an obstacle-free workspace this system model is uncontrollable because it has only two controllable degrees of freedom---all robots receive the same inputs and move uniformly. We prove that adding a single obstacle can make the system controllable, for any number of robots. We provide a position control algorithm.

Authors: Aaron Becker and Golnaz Habibi, Rice University 2013

Code used for Fig. 3 in "Massive Uniform Manipulation: Controlling Large Populations of Simple Robots with a Common Input Signal" by Aaron Becker, Golnaz Habibi, Justin Werfel, Michael Rubenstein, and James McLurkin, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 3-7 2013.

Paper Video: http://www.youtube.com/watch?v=px5RdSvGD2Q

Required Products MATLAB
MATLAB release MATLAB 8.0 (R2012b)
Tags for This File  
Everyone's Tags
algorithm, control design, micro robot, nano robot, robot, robotics, uniform control
Tags I've Applied
Add New Tags Please login to tag files.
Please login to add a comment or rating.

Contact us