Robotarium：一个可远程访问的群体机器人研究测试平台
The Robotarium: A remotely accessible swarm robotics research testbed
摘要：
本文介绍了Robotarium -远程访问，多机器人研究设施。Robotarium背后的推动力是多机器人测试台构成了多机器人研究周期中不可或缺的一部分，但它们的开发，操作和维护成本高昂，复杂且耗时。这些资源限制反过来又限制了大量研究人员和学生的访问，这就是Robotarium通过为用户提供远程访问最先进的多机器人测试设施而进行的补救。本文详细介绍了机器人的设计和操作，并讨论了复杂的硬件远程访问时必须考虑的因素。特别是，安全性必须在设计阶段就已经内置到系统中，而不会过度限制用户可以上传和执行的协调控制程序，这需要具有可证明性能保证的微创安全例程。
英文摘要：
This paper describes the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-robot research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and operation of the Robotarium and discusses the considerations one must take when making complex hardware remotely accessible. In particular, safety must be built into the system already at the design phase without overly constraining what coordinated control programs users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
