Robotarium：遠隔利用可能な群ロボティクス研究テストベッド
The Robotarium: A remotely accessible swarm robotics research testbed
遠隔から誰でも利用できるマルチロボット実験施設Robotariumの設計と運用を述べ、安全保証付きの最小侵襲な安全機構の必要性を論じた論文。
著者: Daniel Pickem, Paul Glotfelter, Li Wang, 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 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-robot 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 and discusses the considerations one must take when making complex hardware remotely accessible. In particular, safety must be built into the system already at the design phase without overly constraining what coordinated control programs users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.
