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Range and Bearing Control of an Ensemble of Robots

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

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Updated 21 Sep 2012

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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

Cite As

Aaron T. Becker's Robot Swarm Lab (2020). Range and Bearing Control of an Ensemble of Robots (, MATLAB Central File Exchange. Retrieved .

Comments and Ratings (1)


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

MATLAB Release Compatibility
Created with R2011b
Compatible with any release
Platform Compatibility
Windows macOS Linux