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.
Note that the above video does not incorporate collision or obstacle avoidance, which was demonstrated in http://www.youtube.com/watch?v=5W8Sc2FwhxM
Added supporting code (motion planner for ensemble and code to generate graphs and plots for paper)