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

Published 11 Apr 2024 in cs.RO | (2404.07795v2)

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.

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Summary

  • The paper introduces innovative control methods for coordinating diverse robotic swarms in artistic settings.
  • It employs a library of emergent behaviors validated via simulation and real-world trials to synchronize performance artistry.
  • Robust communication protocols and UWB-based localization overcome technical challenges, enabling precise stage coordination.

Orchestrating Robotic Artistic Performances: Challenges and Insights

Introduction

Robotic artistic performances represent an emerging interdisciplinary field merging engineering and the arts, posing unique technical challenges, notably in communication protocols and localization methods. Highlighting a project named DESSAIM, this paper explores the orchestration of such performances, underscoring the importance of technical foundations for the successful realization of artistic visions through robotics.

Behavior Composition and Swarm Robotics

DESSAIM explores swarm behaviors inspired by natural phenomena to foster artistic expression. Utilizing a library of twelve emergent behaviors, the project employs three distinct robot swarms: tabletop robots (Sushis), flying robots (CrazyCognies), and wheeled robots with manipulators (Doodies), each exhibiting unique dynamic states and interaction patterns. These behaviors, programmed in Buzz and validated through ARGoS3 simulator, demonstrate the adaptability and expressiveness of swarm robotics in artistic contexts.

DESSAIM Swarms: Platforms for Artistic Expression

The physical instantiation of the DESSAIM project encompasses three robotic swarms, each with unique characteristics and challenges:

  • Tabletop Swarm (Sushis): These small robots are designed for precision and expressiveness in movement, using a combination of photodiodes, ARM microcontrollers, and differential drive mechanisms for localization and movement.
  • Flying Swarm (CrazyCognies): A hybrid aerial design combines the features of Cogniflies and Crazyflies for enhanced flight stability and safety in cluttered indoor environments, employing custom software for pose estimation and control.
  • Human-scale Swarm (Doodies): Featuring Clearpath Dingo robots equipped with Kinova Gen3 Lite manipulators, this swarm integrates UWB localization with onboard Nvidia Xavier for real-time behavior control and interaction.

Challenges of Artistic Performance

The deployment of robotic swarms in artistic performances introduces complex technical demands:

  • Communication for Coordination: Zenoh protocol facilitates efficient, scalable communication within swarms, critical for synchronizing complex collective behaviors. This setup allows for robust inter-robot coordination, essential for the realization of synchronized, collective artistic expressions.
  • Global Positioning and Localization: Addressing the need for reliable localization without extensive infrastructure, the deployment employs a UWB-based strategy supported by advanced calibration techniques. This approach ensures accurate global positioning critical for the seamless execution of artistic performances.

Conclusions and Implications

This exploration into the DESSAIM project reveals significant insights into the orchestration of robotic artistic performances, showcasing the critical role of technical infrastructure in enabling artistic expression through robotics. The successful implementation of communication and localization strategies not only underscores the operational challenges inherent in such endeavors but also highlights the potential of robotics as a medium for artistic innovation. The integration of Zenoh for communication and UWB for localization exemplifies how technical hurdles can be overcome, allowing for the creative and expressive potential of robot swarms to be fully realized in artistic contexts.

Future Directions in Robotic Artistic Performances

The findings and methodologies detailed in this research open avenues for further exploration in the fusion of art and technology. Future developments may focus on advancing robot autonomy and audience interaction, exploring the limits of robotic expressiveness, and expanding the scalability and adaptability of performances across diverse environments. This work establishes a foundation for further interdisciplinary collaborations, expanding the possibilities for robotic technology in artistic expression.

Acknowledgments

The significant contributions of the artists and engineers behind DESSAIM underscore the collaborative essence of pioneering works at the intersection of technology and art. Their innovative approaches and dedication have proven instrumental in navigating the challenges presented by robotic artistic performances, propelling the field toward new horizons.

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