TY - GEN
T1 - Autonomous mobile robot with independent control and externally driven actuation
AU - Wang, Hanlin
AU - Rubenstein, Michael
PY - 2016/11/28
Y1 - 2016/11/28
N2 - Complexity, cost, and power requirements for actuation of individual robots are large factors in limiting the size of robotic swarms. Here we present a prototype robotic system that allows for externally powered motion in 2D without sacrificing individual autonomy, which simplifies the robot hardware, possibly enabling larger swarm sizes. This is accomplished using a table surface that is moving in an orbital fashion, and where robots can move to any point on the table surface simply through a series of carefully timed attachment and detachment steps. We present a model for the robot's motion, and use this model to create a motion controller that allows the robot to move from its current position to any other position on the table in approximately a straight line. We show this controller working in simulation as well as on an experimental hardware system.
AB - Complexity, cost, and power requirements for actuation of individual robots are large factors in limiting the size of robotic swarms. Here we present a prototype robotic system that allows for externally powered motion in 2D without sacrificing individual autonomy, which simplifies the robot hardware, possibly enabling larger swarm sizes. This is accomplished using a table surface that is moving in an orbital fashion, and where robots can move to any point on the table surface simply through a series of carefully timed attachment and detachment steps. We present a model for the robot's motion, and use this model to create a motion controller that allows the robot to move from its current position to any other position on the table in approximately a straight line. We show this controller working in simulation as well as on an experimental hardware system.
UR - http://www.scopus.com/inward/record.url?scp=85006337707&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2016.7759537
DO - 10.1109/IROS.2016.7759537
M3 - Conference contribution
AN - SCOPUS:85006337707
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3647
EP - 3652
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -