BotArena, a new affordable experimentation platform for multiple mobile robots

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-01-23 DOI:10.1016/j.mechatronics.2025.103295

Franck Mercier , Rémy Guyonneau , Alain Godon

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引用次数: 0

Abstract

This paper presents the design of an experimental hardware-in-the-loop platform for multiple mobile robots that meets three criteria: cost reduction, modularity, and versatility. Inspired by structures like the Robotarium, the BotArena aims to be a low-cost, open source, and open hardware version of an arena for multiple mobile robot experiments. The arena was mainly designed with a focus on research applications, to allow the implementation of algorithms and their experimental evaluations. However, it was also designed with applicability to educational applications, for the training of future engineers in swarm robotics techniques and methods. Finally, it was also designed for use in science popularization events. In a nutshell, this platform is intended to be inclusive and appealing for introducing multiple mobile robot concepts. The paper details the design, realization, and underlying principles of this tool. Finally, the performance of the arena (response time and localization accuracy) is quantified and discussed, and an ant-inspired application is presented.

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BotArena，一个新的可负担得起的多移动机器人实验平台

本文提出了一种用于多个移动机器人的实验硬件在环平台的设计，该平台满足三个标准：降低成本，模块化和多功能性。受Robotarium等结构的启发，BotArena旨在成为一个低成本、开源和开放硬件版本的竞技场，用于多个移动机器人实验。该竞技场的设计主要侧重于研究应用，以便实现算法及其实验评估。然而，它的设计也适用于教育应用，用于培训未来的工程师群体机器人技术和方法。最后，它还被设计用于科普活动。简而言之，这个平台旨在包容和吸引引入多种移动机器人的概念。本文详细介绍了该工具的设计、实现和基本原理。最后，对竞技场的性能（响应时间和定位精度）进行了量化和讨论，并提出了一种反算法应用。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.