Controlling Wild Mobile Robots Using Virtual Gates and Discrete Transitions


Leonardo Bobadilla, Fredy Martinez, Eric Gobst, 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.


Separating into teams


Reactive Tasks Light off

Reactive Tasks Light on

Time-based policies

Using a region filter

Communication based strategies