Autonomous mobile robot with independent control and externally driven actuation

Abstract

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.