Towards Long-Term Collective Experiments

  • Florian VaussardEmail author
  • Philippe Rétornaz
  • Steven Roelofsen
  • Michael Bonani
  • François Rey
  • Francesco Mondada
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 194)


It is often challenging to manage the battery supply when dealing with a fleet of mobile robots during long experiments. If one uses classical recharge stations, then agents are immobilized during the whole recharge process. In this study, we present a novel approach that employs a battery pack swapping station. Batteries are charged in a rotating barrel, and the robots dock only for the time of the hot-swap process. We attained an unavailability time of only 40 seconds, with a success rate of 100 % on a total of 46 trials. Experiments above 8 hours are performed in three arenas with different configurations, which proves the relevance of our approach.


Mobile Robot Unman Aerial Vehicle Autonomous Robot Battery Pack Recharge Process 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Florian Vaussard
    • 1
    Email author
  • Philippe Rétornaz
    • 1
  • Steven Roelofsen
    • 1
  • Michael Bonani
    • 1
  • François Rey
    • 1
  • Francesco Mondada
    • 1
  1. 1.EPFL – STI – LSROLausanneSwitzerland

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