Presented at: IEEE/RSJ International Conference on Intelligent Robots and Systems- Published in: 2011 Ieee/Rsj International Conference On Intelligent Robots And Systems (ISBN: 978-1-61284-455-8), p. 4341-4347
- Series: IEEE International Conference on Intelligent Robots and Systems
- Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa, 2011
In this paper, we present a quantitative, trajectory-based method for calibrating stochastic motion models of water-floating robots. Our calibration method is based on the Correlated Random Walk (CRW) model, and consists in minimizing the Kolmogorov-Smirnov (KS) distance between the step length and step angle distributions of real and simulated trajectories generated by the robots. First, we validate this method by calibrating a physics-based motion model of a single 3-cm-sized robot floating at a water/air interface under fluidic agitation. Second, we extend the focus of our work to multi-robot systems by performing a sensitivity analysis of our stochastic motion model in the context of Self-Assembly ( SA). In particular, we compare in simulation the effect of perturbing the calibrated parameters on the predicted distributions of self-assembled structures. More generally, we show that the SA of water-floating robots is very sensitive to even small variations of the underlying physical parameters, thus requiring real-time tracking of its dynamics.
Reference
- Detailed record: https://infoscience.epfl.ch/record/167787?ln=en
- EPFL-CONF-167787
- View record in Web of Science