Robotic Testbed and Validation

While the primary focus of research in our group is on the theoretical foundations of network system, we also recognize the importance of validating our ideas on real-world systems. A multi-robot testbed provides an excellent platform to test our ideas and also attract undergraduate students to our research group. We are developing both ground and aerial robots for this puprose. We also collaborate with roboticsts to help realize our more sophisticated research ideas.

Robot platforms

Autonomous FPV

Autonomous FPV

New Controls Teaching Platform
Mechanum-bots

Mechanum-bots

Open source robot kit
Parrot Minidrones

Parrot Minidrones

Controls Teaching Platform
TurtleBots

TurtleBots

Open source robot kit
  1. J. Attias, Y. Marciano, R. Arhipov, and D. Zelazo, “An Open Source Quadcopter Platform for Simulink,” in 63rd Israel Annual Conference on Aerospace Sciences, Haifa, Israel, May 2024.
    Attias_IACAS2024.slides
  2. C. K. Verginis, D. Zelazo, and D. V. Dimarogonas, “Cooperative Manipulation via Internal Force Regulation: A Rigidity Theory Perspective,” IEEE Transactions on Control of Network Systems, 10(3):1222–1233, 2023.
    Verginis2023_J.pdf DOI: 10.1109/TCNS.2022.3181724 Verginis2023_J.video
  3. N. Drellich, “Low-Cost Aerial Platform for Guidance, Navigation and Control System Design,” mastersthesis, Technion - Israel Institute of Technology, Aerospace Engineering Department, 2021.
    Drellich2021.pdf
  4. Y. Liu, J. M. Montenbruck, D. Zelazo, M. Odelga, S. Rajappa, H. H. Bülthoff, F. Allgöwer, and A. Zell, “A Distributed Control Approach to Formation Balancing and Maneuvering of Multiple Multirotor UAVs,” IEEE Transactions on Robotics, 34(4):870–882, 2018.
    Liu_IEEETRo2019.pdf DOI: 10.1109/TRO.2018.2853606 Liu_IEEETRo2019.video
  5. F. Schiano, A. Franchi, D. Zelazo, and P. R. Giordano, “A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, Sep. 2016.
    Schiano2016a.pdf DOI: 10.1109/iros.2016.7759748 Schiano2016a.video
  6. D. Zelazo, A. Franchi, H. H. Bülthoff, and P. Robuffo Giordano, “Decentralized Rigidity Maintenance Control with Range-only Measurements for Multi-Robot Systems,” International Journal of Robotics Research, 34(1):105–128, 2015.
    Zelazo2013a_J.pdf DOI: 10.1177/0278364914546173 Zelazo2013a_J.video
  7. D. Zelazo, A. Franchi, F. Allgöwer, H. H. Bülthoff, and P. Robuffo Giordano, “Rigidity Maintenance Control for Multi-Robot Systems,” in Proceedings of Robotics: Science and Systems, Sydney, Australia, Jul. 2012.
    Zelazo2012c.pdf DOI: 10.15607/rss.2012.viii.060