Brief introductory video on Ensemble Control of Robotic Systems. Here the system is a differential-drive robot. It is easy to design an open-loop input sequence to steer the robot if the wheel size is known, but if the wheel size is unknown, the same input sequence can move the robot away from the goal. In my dissertation ([ Ссылка ]) I show how to generate open-loop input sequences that are robust to an unknown wheel size. The key insight is that the sequence is designed to move the continuum of robots with every possible wheel size from start to goal.
The error remains bounded for all choices of the goal position, as shown in [ Ссылка ]
Hardware experiment: [ Ссылка ]
Source code available at: [ Ссылка ]
