Interactive Multi-Robot Painting Through Colored Motion Trails

Copyright © 2020 Santos, Notomista, Mayya and Egerstedt..

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.

Medienart:

E-Artikel

Erscheinungsjahr:

2020

Erschienen:

2020

Enthalten in:

Zur Gesamtaufnahme - volume:7

Enthalten in:

Frontiers in robotics and AI - 7(2020) vom: 22., Seite 580415

Sprache:

Englisch

Beteiligte Personen:

Santos, María [VerfasserIn]
Notomista, Gennaro [VerfasserIn]
Mayya, Siddharth [VerfasserIn]
Egerstedt, Magnus [VerfasserIn]

Links:

Volltext

Themen:

Heterogeneous multi-robot teams
Human-swarm interaction
Interactive robotic art
Journal Article
Painting
Robotic swarm

Anmerkungen:

Date Revised 29.01.2021

published: Electronic-eCollection

Citation Status PubMed-not-MEDLINE

doi:

10.3389/frobt.2020.580415

funding:

Förderinstitution / Projekttitel:

PPN (Katalog-ID):

NLM320631664