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This paper presents GTernal, an open-source robot designed for multi-robot experimentation with a focus on reducing the overhead labor required to setup and conclude multi-robot experiments. This paper discusses the robot’s hardware design choices and the supporting algorithms that together enable the automation of the time intensive initialization, clean up, and charging routines associated with multi-robot experimentation. The efficacy of the presented design and algorithms are validated by the continuous execution of 453 experiments over a three day period on the Robotarium testbed.

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GTernal: A Robot Design for the Autonomous Operation of a Multi-robot Research Testbed

  • 会议论文

  • 发表日期：

    2026年

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  • Soobum Kim,
  • Paden Davis,
  • Nathan Yam,
  • Samuel Coogan,
  • Sean Wilson

摘要

This paper presents GTernal, an open-source robot designed for multi-robot experimentation with a focus on reducing the overhead labor required to setup and conclude multi-robot experiments. This paper discusses the robot’s hardware design choices and the supporting algorithms that together enable the automation of the time intensive initialization, clean up, and charging routines associated with multi-robot experimentation. The efficacy of the presented design and algorithms are validated by the continuous execution of 453 experiments over a three day period on the Robotarium testbed.