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Interactive Multi-Robot Painting Through Colored Motion Trails

In this paper, we present a robotic painting system whereby a team of mobile robots equipped with different color paints create pictorial compositions by leaving trails of color as they move throughout a canvas. We envision this system to be used by an external user who can control the concentration...

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Autores principales: Santos, María, Notomista, Gennaro, Mayya, Siddharth, Egerstedt, Magnus
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7806061/
https://www.ncbi.nlm.nih.gov/pubmed/33501341
http://dx.doi.org/10.3389/frobt.2020.580415
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author Santos, María
Notomista, Gennaro
Mayya, Siddharth
Egerstedt, Magnus
author_facet Santos, María
Notomista, Gennaro
Mayya, Siddharth
Egerstedt, Magnus
author_sort Santos, María
collection PubMed
description In this paper, we present a robotic painting system whereby a team of mobile robots equipped with different color paints create pictorial compositions by leaving trails of color as they move throughout a canvas. We envision this system to be used by an external user who can control the concentration of different colors over the painting by specifying density maps associated with the desired colors over the painting domain, which may vary over time. The robots distribute themselves according to such color densities by means of a heterogeneous distributed coverage control paradigm, whereby only those robots equipped with the appropriate paint will track the corresponding color density function. The painting composition therefore arises as the integration of the motion trajectories of the robots, which lay paint as they move throughout the canvas tracking the color density functions. The proposed interactive painting system is evaluated on a team of mobile robots. Different experimental setups in terms of paint capabilities given to the robots highlight the effects and benefits of considering heterogeneous teams when the painting resources are limited.
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spelling pubmed-78060612021-01-25 Interactive Multi-Robot Painting Through Colored Motion Trails Santos, María Notomista, Gennaro Mayya, Siddharth Egerstedt, Magnus Front Robot AI Robotics and AI In this paper, we present a robotic painting system whereby a team of mobile robots equipped with different color paints create pictorial compositions by leaving trails of color as they move throughout a canvas. We envision this system to be used by an external user who can control the concentration of different colors over the painting by specifying density maps associated with the desired colors over the painting domain, which may vary over time. The robots distribute themselves according to such color densities by means of a heterogeneous distributed coverage control paradigm, whereby only those robots equipped with the appropriate paint will track the corresponding color density function. The painting composition therefore arises as the integration of the motion trajectories of the robots, which lay paint as they move throughout the canvas tracking the color density functions. The proposed interactive painting system is evaluated on a team of mobile robots. Different experimental setups in terms of paint capabilities given to the robots highlight the effects and benefits of considering heterogeneous teams when the painting resources are limited. Frontiers Media S.A. 2020-10-14 /pmc/articles/PMC7806061/ /pubmed/33501341 http://dx.doi.org/10.3389/frobt.2020.580415 Text en Copyright © 2020 Santos, Notomista, Mayya and Egerstedt. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Santos, María
Notomista, Gennaro
Mayya, Siddharth
Egerstedt, Magnus
Interactive Multi-Robot Painting Through Colored Motion Trails
title Interactive Multi-Robot Painting Through Colored Motion Trails
title_full Interactive Multi-Robot Painting Through Colored Motion Trails
title_fullStr Interactive Multi-Robot Painting Through Colored Motion Trails
title_full_unstemmed Interactive Multi-Robot Painting Through Colored Motion Trails
title_short Interactive Multi-Robot Painting Through Colored Motion Trails
title_sort interactive multi-robot painting through colored motion trails
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7806061/
https://www.ncbi.nlm.nih.gov/pubmed/33501341
http://dx.doi.org/10.3389/frobt.2020.580415
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