# Aaron T. Becker's Robot Swarm Lab

Last seen: 4 days ago Active since 2009

Followers: 2   Following: 0

http://www.youtube.com/aabecker5, https://sites.google.com/site/aabecker/ http://swarmcontrol.net, Aaron Becker's passion is robotics and control. Currently as an Assistant Professor in Electrical and Computer Engineering at the University of Houston, he is building a robotics lab. Previously as a Research Fellow with Boston Children's Hospital and Harvard Medical School, he implemented robotics powered & controlled by the magnetic field of an MRI, in the Pediatric Cardiac Bioengineering Lab with Pierre Dupont. As a Postdoc at Rice University in the Multi-Robot Systems Lab with James McLurkin, Aaron investigated control of distributed systems and nanorobotics with experts in the fields. His online game swarmcontrol.net seeks to understand the best ways to control a swarm of robots by a human--through a community of game-developed experts. Aaron earned his PhD in Electrical & Computer Engineering at the University of Illinois at Urbana-Champaign, advised by Tim Bretl.

Spoken Languages:
English
Professional Interests:
Robotics

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Multi-covering point set with disks
Given a 2D point set X where each point must be covered k times, determines radii for discs centered at points Y that meet the r...

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Control Barrier Functions (CBF) & Potential Fields (APF)
Comparison of Control Barrier Functions (CBF) and Artificial Potential Fields (APF) for controlling a drone (MATLAB)

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Calibrate Camera with one Photo (Linear Method)
Have you ever wondered how a photographer got a shot? Performs camera calibration from labelled points in 3D space and pixel coo...

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calculate Fermat Point
Returns the first Fermat point of a triangle with vertices (A,B,C).

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shortest distance between two circles in 3D
Returns the shortest distance between two circles in 3D, the pair(s) of closest points, and if the circles are equidistant.

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Bang-bang acceleration control of angular position
Compares a bang-bang 1 dimensional controller with a controller based on the SmootherStep function.

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Multilateration Algebraic GPS Equations (S. Bancroft method)
Calculates the position of a receiver given the time delay of arrival to at least 4 satellites in 3D (or at least 3 satellites i...

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A path planner for n-link planar robot arm moving among polygonal obstacles (or point obstacles). Set parameter to see prebuilt...

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polyEnumDraw
Generate & draw all fixed polyominoes of size n tiles. A polyomino is a plane geometric figure formed by joining equal squares e...

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polyEnum
Enumerate all the fixed polyominoes of size n tiles. A polyomino is a plane geometric figure formed by joining equal squares edg...

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Parallel Self-Assembly of Polyominoes under Uniform Control Inputs
generates 'polyomino factories' using parallel self-assembly on particle swarms using uniform force

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ClosestFrontier: Particle Mapping using global inputs
This code moves particles in a 2D map using global commands to discover all boundaries/frontiers.

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Aggregation of particles in 2D grid using global control
This code solves the aggregation problem using global inputs given N particles in a 2D environment.

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Mosquito Drone Coverage & Elimination
Simulates using a robot to electrically kill mosquitos

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Seismic Survey Scheduler
Simulates a seismic survey over a rectangular grid of area x by y meters

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Kilobot Swarm Control using Matlab + Arduino
Controls swarm of kilobots to push object through maze. Swarm attracted to brightest light

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Arranging a robot swarm with global inputs and wall friction [discrete]
All robots get same input, but uses wall-friction to steer robots to a desired configuration.

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MDP robot grid-world example
Applies value iteration to learn a policy for a robot in a grid world.

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MCLin1Dsimple
Tutorial code on particle filtering for 1D

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Expectation Maximization On Old Faithful
Applies expectation maximization to fit a mixture of binomial distributions to a data set

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jellyBlocks()
Logic game were all colored blocks are controlled at once -- join all blocks of same color to win!

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SimpleRobotWithBayesRule()
Simulates a simple robot using Bayes Filter to localize itself on a map

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lloydsAlgorithm(Px,Py, crs, numIterations, showPlot)
Starts with a point set, repeatedly moves each point to centroid of Voronoi cell.

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Particle Computation: Permute an array of particles with 4 global moves
Given 2 rectangular permutations of n^2 particles, arranges obstacles to permute in 4 moves

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Control n MRI-powered actuators
Simulates control law to steer multiple MRI-powered actuators

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Generate Non-Parallel Axes
Generate n 'well-spaced' axes -- uniform sampling of 3D rotation axes

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Drive Magnetic Micro-Robots Through a 2D Vascular Network
Using the mouse or keyboard, drive n robots through a 2D vascular structure to goal positions

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Simulate Control of Magnetized Tetrahymena Pyriformis Cells
With uniform magnetic field uses control-Lypunov function to steer all cells to orbit goal positions

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Massive Uniform Manipulation: Control Large Populations of Simple Robots with a Common Input Signal
rearranges n robots controlled to move in unison {up, down, left, right} using 1 obstacle