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    Musical Abstractions in Distributed Multi-Robot Systems

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    IROS-Music-12.pdf (421.4Kb)
    Date
    2012-10
    Author
    Albin, Aaron
    Weinberg, Gil
    Egerstedt, Magnus B.
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    Abstract
    In this paper, we connect local properties in a mobile planar multi-robot team to the task of creating decentralized real time algorithmic music. Using a nonlinear formation control law inspired by the consensus equation, we map the local motion parameters of robots to Euclidean rhythms with the use of sequencers. The control parameters allow a human user to direct this decentralized musical process by guiding and interfering with the robots’ motion, which subsequently affects their musical activity. We simulate such a robotic system in real time, demonstrating the expressiveness of the decentralized algorithmic musical output as well as a number of behaviors that arise out of the manipulation of the control parameters.
    URI
    http://hdl.handle.net/1853/46178
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    • Georgia Robotics and InTelligent Systems Laboratory (GRITS) [230]
    • Georgia Robotics and InTelligent Systems Laboratory (GRITS) Publications [230]

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