SwarmControl: Videos


Overview of massive manipulation capabilities

Position control with just two inputs

Laser-toting robots with only one joystick

Steering many living cells with shared controller

Rolling spheres with shared, global control

Control of self-assembled magnetic swimmers

Robust control with a shared signal

Reconfiguring Massive Particle Swarms

Driving 30 RC robots with one remote

Massive manipulation with an airjet

SwarmControl: Papers and Collaborators


  1. Aaron Becker and Erik Demaine and S. Fekete and Golnaz Habibi and James McLurkin, "Reconfiguring Massive Particle Swarms with Limited, Global Control," in International Symposium on Algorithms and Experiments for Sensor Systems, Wireless Networks and Distributed Robotics (ALGOSENSORS), 2013.
    [pdf] [video] [code]

  2. Aaron Becker and James McLurkin, "Exact Range and Bearing Control of Many Differential-Drive Robots with Uniform Control Inputs," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
    [pdf] [video] [code]

  3. Aaron Becker and Yan Ou and Paul Kim and MinJun Kim and Agung Julius, "Feedback Control of Many Magnetized Tetrahymena pyriformis Cells by Exploiting Phase Inhomogeneity," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
    [pdf] [video] [code]

  4. Aaron Becker and Golnaz Habibi and Justin Werfel and Michael Rubenstein and James McLurkin, "Massive Uniform Manipulation: Controlling Large Populations of Simple Robots with a Common Input Signal," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
    [pdf] [video] [code]

  5. A. Becker and T. Bretl, "Approximate Steering of a Plate-Ball System Under Bounded Model Perturbation Using Ensemble Control," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
    [bibtex] [pdf] [video]

  6. C. Orduño, A. Becker, and T. Bretl, "Motion Primitives for Path Following with a Self-Assembled Robotic Swimmer," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
    [pdf] [video]

  7. A. Becker, C. Onyuksel, and T. Bretl, "Feedback Control of Many Differential-Drive Robots with Uniform Control Inputs," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
    [pdf] [video] [code]

  8. A. Becker, R. Sandheinrich, and T. Bretl, "Automated manipulation of spherical objects in three dimensions using a gimbaled air jet," in Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, 2009, pp. 781-786.
    [pdf] [doi] [video]

SwarmControl: Funding Sources



SwarmControl is an open-source project hosted at https://github.com/crertel/swarmmanipulate.git