This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and directions needed for the swarming algorithm. The results show that all robots properly follow some leader defined one of the testbeds. Measurement of data exchange rates show no loss of packets, and average transfer delays stay within tolerance limits for practical applications. In our knowledge, the novelty of this paper concerns this kind of control over a large network like internet.
@article{arxiv.2411.03614,
title = {Robot Swarming over the internet},
author = {Will Ferenc and Hannah Kastein and Lauren Lieu and Ryan Wilson and Yuan Rick Huang and Jerome Gilles and Andrea L. Bertozzi and Balaji R. Sharma and Baisravan HomChaudhuri and Subramanian Ramakrishnan and Manish Kumar},
journal= {arXiv preprint arXiv:2411.03614},
year = {2024}
}