ARTUISIS

Physical platform setup with MONA robots, tracking and AR visualisations in real-time

MONA robots
Craig Reynold's Boids model implemented with virtual forces (see beelow ).
Robot tracking with Optitrack and Motive software

The Macroscope gathers information from the tracking system and the individual robots, and communicate :

To the robots, information on their neighbours (position and direction) according to the perception radius
To the AR device, individual and aggregated information necessary to the designed augmented visualisations (neighbours, individual forces and direction)

Special thanks to Jeremie Donjat, research engineer, and Ewan Durand, undergraduate student.

In this video, each robot's dominating force is displayed, showing between attraction, repulsion, alignment or the lack of domination, using a coloured directional arrow above each robot: red, blue, green and white respectively. The robots exhibit a flocking behaviour.

In this video, the links between the connected robots are displayed to show their perceived neighbours. As well as showing the links between robots, the line's color (green, yellow, red) is modified according to the distance between the robots, until it disappears when the connection is broken, to show users how far the robots are from the break. The robots exhibit an expansion behaviour.

Simulation with Webots and AR visualisations in real-time

MONA robots virtual model
Craig Reynold's Boids model implemented with virtual forces (same code as in the physical setup, see beelow ).

Scheme of the platform setup with MONA robots simulated in Webots and AR visualisations in real-time

The Macroscope gathers information from a Supervisor agent in Webots and the simulated individual robots, and communicate :

To the robots, information on their neighbours (position and direction) according to the perception radius.
To the AR device, individual and aggregated information necessary to the designed augmented visualisations (neighbours, individual forces and direction)

Craig Reynold's model [Flocks, herds and schools: A distributed behavioral model, 1987] implemented with virtual forces in Unity.

Aggregation with the Attraction, Alignment and repulsion method

This is an example of the use of the Attraction, Alignment and Repulsion method to obtain a self-organizing behavior of Aggregation.

Coverage with the Attraction, Alignment and repulsion method

This is an example of the use of the Attraction, Alignment and Repulsion method to obtain a self-organizing behavior of Coverage.

Shape formation with the Attraction, Alignment and repulsion method and environmental constraints

This is an example of the use of environmental constraints combined with the Attraction, Alignment and Repulsion method to obtain a self-organizing behavior of Shape formation.

ARTUISIS

Augmented Reality and Tangible User Interface to Supervise and Interact with robot Swarms

Physical platform setup with MONA robots, tracking and AR visualisations in real-time

Simulation with Webots and AR visualisations in real-time

Craig Reynold's model [Flocks, herds and schools: A distributed behavioral model, 1987] implemented with virtual forces in Unity.

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