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From the Lab to the Theater: An Unconventional Field Robotics Journey

Ali Imran, Vivek Shankar Varadharajan, Rafael Gomes Braga, Yann Bouteiller, Abdalwhab Bakheet Mohamed Abdalwhab, Matthis Di-Giacomo, Alexandra Mercader, Giovanni Beltrame, David St-Onge

TL;DR

This paper investigates how robotic artistic performances can drive robust, field-capable swarm robotics across scales, focusing on communication and localization in dynamic theater settings. It presents DESSAIM, a triad of swarms (tabletop Sushis, flying CrazyCognies, and human-scale Doodies) controlled via Buzz/PyBuzz with ARGoS3 validation, exploring library-wide emergent behaviors. A core contribution is the integration of Zenoh for high-frequency coordination and low-cost UWB localization to achieve safe, scalable performances involving audiences, including calibration strategies to deploy under $1500 anchors in under 4 hours. The work demonstrates practical, reproducible pathways for translating artistic concepts into robust field robotics deployments with significant implications for cross-disciplinary collaboration and audience-facing demonstrations.

Abstract

Artistic performances involving robotic systems present unique technical challenges akin to those encountered in other field deployments. In this paper, we delve into the orchestration of robotic artistic performances, focusing on the complexities inherent in communication protocols and localization methods. Through our case studies and experimental insights, we demonstrate the breadth of technical requirements for this type of deployment, and, most importantly, the significant contributions of working closely with non-experts.

From the Lab to the Theater: An Unconventional Field Robotics Journey

TL;DR

This paper investigates how robotic artistic performances can drive robust, field-capable swarm robotics across scales, focusing on communication and localization in dynamic theater settings. It presents DESSAIM, a triad of swarms (tabletop Sushis, flying CrazyCognies, and human-scale Doodies) controlled via Buzz/PyBuzz with ARGoS3 validation, exploring library-wide emergent behaviors. A core contribution is the integration of Zenoh for high-frequency coordination and low-cost UWB localization to achieve safe, scalable performances involving audiences, including calibration strategies to deploy under $1500 anchors in under 4 hours. The work demonstrates practical, reproducible pathways for translating artistic concepts into robust field robotics deployments with significant implications for cross-disciplinary collaboration and audience-facing demonstrations.

Abstract

Artistic performances involving robotic systems present unique technical challenges akin to those encountered in other field deployments. In this paper, we delve into the orchestration of robotic artistic performances, focusing on the complexities inherent in communication protocols and localization methods. Through our case studies and experimental insights, we demonstrate the breadth of technical requirements for this type of deployment, and, most importantly, the significant contributions of working closely with non-experts.
Paper Structure (10 sections, 9 figures)

This paper contains 10 sections, 9 figures.

Table of Contents

  1. Introduction
  2. Behavior composition
  3. DESSAIM swarms
  4. Tabletop swarm: Sushis
  5. Flying swarm: CrazyCognies
  6. Human-scale swarm: Doodies
  7. Artistic performance challenges
  8. High-frequency critical communication for coordination
  9. Minimal infrastructure global positioning
  10. CONCLUSIONS

Figures (9)

  • Figure 1: Behavior composition: A "firework" composed of 4 behaviors in ARGoS
  • Figure 2: The three DESSAIM robotic swarms seen in their performing settings.
  • Figure 3: Sushi with its top circuit including RF communication chip and photodiode for localization.
  • Figure 4: CrazyCognie with its Crazyflie on top, a Raspberry Pi just underneath, and the iNav flight controller below, just above the battery pack.
  • Figure 5: Software schematic of a CrazyCogni
  • ...and 4 more figures