Controlling Wild Mobile Robots Using Virtual Gates and Discrete Transitions
Katrina Goodman, Steve LaValle
We want to control a group of mobile robots to execute tasks such as patrolling, disentanglement, and basic navigation. We do
not perform system identification, geometric map building, localization, or full state estimation. Instead,
our robots execute wild motions and use simple sensor feedback to detect markers in the environment (virtual gates). Our robots are based on the SERB open-source design and are engineered with acrylic sheets, cheap motors, a color sensor, and an Arduino board with a total cost less
than $100 US. For more details, you can check our paper.