Image and animation display with multiple mobile robots
Image and animation display with multiple mobile robots
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DOI：
10.1177/0278364912442095
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发表时间：
2012-05-01
影响因子：
9.2
通讯作者：
Beardsley, Paul
中科院分区：
文献类型：
--
作者：
Alonso-Mora, Javier;Breitenmoser, Andreas;Beardsley, Paul
在本文中，我们介绍了一种使用一组移动机器人创建的新颖显示器。与基于固定像素网格的传统显示器（如屏幕或投影）不同，这项工作描述了一种显示器，其中每个像素都是一个可控制颜色的移动机器人。像素成为可移动的实体，它们的定位和运动被用来产生一种新颖的体验。系统输入是由艺术家创建的单个图像或动画。第一阶段是生成物理目标配置和机器人颜色，以最优地表示具有可用机器人数量的输入图像。运行时系统包括目标分配、路径规划和局部互避，以保证图像之间的平滑、快速和无振荡运动。该算法适用于非常大的机器人群，并扩展到广泛的机器人运动学。实验评估是针对两个不同的物理群体，大小分别为14和50个不同驱动的机器人，以及1000个机器人像素的模拟。
In this article we present a novel display that is created using a group of mobile robots. In contrast to traditional displays that are based on a fixed grid of pixels, such as a screen or a projection, this work describes a display in which each pixel is a mobile robot of controllable color. Pixels become mobile entities, and their positioning and motion are used to produce a novel experience. The system input is a single image or an animation created by an artist. The first stage is to generate physical goal configurations and robot colors to optimally represent the input imagery with the available number of robots. The run-time system includes goal assignment, path planning and local reciprocal collision avoidance, to guarantee smooth, fast and oscillation-free motion between images. The algorithms scale to very large robot swarms and extend to a wide range of robot kinematics. Experimental evaluation is done for two different physical swarms of size 14 and 50 differentially driven robots, and for simulations with 1,000 robot pixels.