Funding: MAST-CTA

Students: S. Ahmad, J. Kloeppel, J. Regalado


TESTBED NAME is a small scale, affordable and portable multi-vehicle robotic platfor

m capable of KamigamiROSE (Kamigami ROS Enabled). The purpose of this research is to simulate and implement a small-scale swarm testbed. Developing a swarm testbed can be difficult in terms of robot localization. The proposed testbed aims to tackle this difficult issue by utilizing an aerial vehicle used to monitor and publish the locations and orientations of the swarm’s ground agents. The testbed consists of one quadrotor and multiple crawler robots. The team plans to build a mobile motion capture system so that experiments can be done both indoors and outdoors. The system will be able to precisely estimate the poses of multiple ground robots with respect to the absolute world frame. A quadrotor UAV with a downward facing camera will be used to detect the relative poses of the ground robots in its field of view. The poses of each ground robot will ultimately be transformed into the coordinates of the world frame through proper transformation calculations. The position of the quadrotor will be measured with respect to the world frame for the transformation.


The research is divided mainly into two parts:

* Simulation: Gazebo will be used to create an environment with a hovering quadrotor, Kamigami ground robot models and camera mounted beneath the quadrotor. AprilTags will be used on the ground robots to detect their unique positions relative to the quadrotor frame which will ultimately be transformed into the world frame.

* Practical implementation of the system: A tripod mount with a camera facing downwards will be used to detect the positions of the Kamigami robots on the table top. An AprilTag package for ROS will be used to decode the AprilTags posted on the ground robots. Once the transform tree in ROS is available, a simple swarm control algorithm will be demonstrated with the system.


1) ROS (packages : rotors_simulator, apriltags_ros etc)

2) Rviz and Gazebo

3) Raspberry Pi Zero

4) 5 Kamigami Dash Robots (MARHES custom build)

5) Tripod and camera mount

6) USB Camera

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