Here we store all the material (videos and robots' CAD model) regarding [Maffettone et al, 2024].
Specifically there are 4 folders:
continuous_simulations: containing the videos of the numerical integration of the the continuified controlled model (the spatio-temporal evolution of the density and of the error function are reported), consisting in the result of a finite volume method;
discrete_simulations: containing the videos of the discretizzed trials;
experiments: containing videos of the experiments we conducted.
In each of these folders there are 4 videos regarding all the setups we considered:
Monomodal regulation: the desired density to achieve is a static monomodal von mises function; Multimodal regulation: the desired density to achieve is a static multimodal von mises function; Monomodal tracking: the desired density to achieve is a time varying monomodal von mises function; Multimodal tracking: the desired density to achieve is a time varying multimodal von mises function;
Moreover we report the CAD model of the differential drive robot in the folder "differential_drive_robot_CAD"
For any information, please contact one of the authors.
[Maffettone et al, 2024]: G.C. Maffettone, L. Liguori, E. Palermo, M. di Bernardo, M. Porfiri, "Mixed Reality Environment and High-Dimensional Continuification Control for Swarm Robotics", IEEE Transactions on Control Systems Technology, vol. 32, no. 6, pp. 2484-2491, 2024. https://ieeexplore.ieee.org/document/10614946