Robotarium：安全な遠隔アクセス型群ロボティクス研究基盤
Safe, Remote-Access Swarm Robotics Research on the Robotarium
遠隔から誰でも使えるマルチロボット実験施設Robotariumの設計・運用を述べ、設計段階から安全性を組み込みつつユーザーの制御プログラムを過度に制約しない手法を示した。
著者: Daniel Pickem, Li Wang, Paul Glotfelter, Yancy Diaz-Mercado, Mark Mote, Aaron Ames, Eric Feron, Magnus Egerstedt
分類: cs.RO
原文アブストラクト
This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and operation of the Robotarium as well as connects these to the particular considerations one must take when making complex hardware remotely accessible. In particular, safety must be built in already at the design phase without overly constraining which coordinated control programs the users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.
