{"title":"BotArena, a new affordable experimentation platform for multiple mobile robots","authors":"Franck Mercier , Rémy Guyonneau , Alain Godon","doi":"10.1016/j.mechatronics.2025.103295","DOIUrl":null,"url":null,"abstract":"<div><div>This paper presents the design of an experimental hardware-in-the-loop platform for multiple mobile robots that meets three criteria: cost reduction, modularity, and versatility. Inspired by structures like the Robotarium, the BotArena aims to be a low-cost, open source, and open hardware version of an arena for multiple mobile robot experiments. The arena was mainly designed with a focus on research applications, to allow the implementation of algorithms and their experimental evaluations. However, it was also designed with applicability to educational applications, for the training of future engineers in swarm robotics techniques and methods. Finally, it was also designed for use in science popularization events. In a nutshell, this platform is intended to be inclusive and appealing for introducing multiple mobile robot concepts. The paper details the design, realization, and underlying principles of this tool. Finally, the performance of the arena (response time and localization accuracy) is quantified and discussed, and an ant-inspired application is presented.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"106 ","pages":"Article 103295"},"PeriodicalIF":3.1000,"publicationDate":"2025-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechatronics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0957415825000042","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper presents the design of an experimental hardware-in-the-loop platform for multiple mobile robots that meets three criteria: cost reduction, modularity, and versatility. Inspired by structures like the Robotarium, the BotArena aims to be a low-cost, open source, and open hardware version of an arena for multiple mobile robot experiments. The arena was mainly designed with a focus on research applications, to allow the implementation of algorithms and their experimental evaluations. However, it was also designed with applicability to educational applications, for the training of future engineers in swarm robotics techniques and methods. Finally, it was also designed for use in science popularization events. In a nutshell, this platform is intended to be inclusive and appealing for introducing multiple mobile robot concepts. The paper details the design, realization, and underlying principles of this tool. Finally, the performance of the arena (response time and localization accuracy) is quantified and discussed, and an ant-inspired application is presented.
期刊介绍：
Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.
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