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Related Experiment Video

Updated: Jun 10, 2026

Simulation of a Scaled Assembly Process with Collaboration of a Robotic Arm and Monitoring through a Vision System for Quality Control
05:47

Simulation of a Scaled Assembly Process with Collaboration of a Robotic Arm and Monitoring through a Vision System for Quality Control

Published on: August 29, 2025

Adaptive multi-robot formation control using distributed audio-visual sensing and bluetooth communication networks.

Sandeep Gupta1, Udit Mamodiya2, Akhtar Kalam3

  • 1Department of Electronics and Communication Engineering, Poornima College of Engineering (Affiliated to Rajasthan Technical University, Kota), Jaipur, 302022, India.

Scientific Reports
|June 8, 2026
PubMed
Summary

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This summary is machine-generated.

This study presents a novel distributed multi-robot formation control system using audio-visual sensing and Bluetooth. The adaptive system achieves precise formations with reduced energy costs and robust performance against disruptions.

Area of Science:

  • Robotics
  • Control Systems
  • Sensor Fusion

Background:

  • Traditional multi-robot systems often rely on centralized control, leading to scalability and energy efficiency issues.
  • Effective formation control requires robust sensing and communication strategies for dynamic environments.

Purpose of the Study:

  • To introduce a new distributed multi-robot formation control method.
  • To integrate audio-visual sensing with Bluetooth communication for enhanced inter-agent awareness.
  • To develop an adaptive formation system for dynamic robot positioning.

Main Methods:

  • A hierarchical control architecture with local and centralized controllers for ESP32-based robots.
  • A two-thread architecture for simultaneous audio processing, video display, and motor control.
Keywords:
Audio-visual perceptionBluetooth communicationConsensus algorithmsDistributed sensingESP32 microcontrollerEmbedded systemsFormation controlMulti-robot systemsSensor fusionSwarm robotics

Related Experiment Videos

Last Updated: Jun 10, 2026

Simulation of a Scaled Assembly Process with Collaboration of a Robotic Arm and Monitoring through a Vision System for Quality Control
05:47

Simulation of a Scaled Assembly Process with Collaboration of a Robotic Arm and Monitoring through a Vision System for Quality Control

Published on: August 29, 2025

  • An adaptive formation system utilizing in-situ acoustic signatures and visual landmarks.
  • A time-division multiple access protocol over Bluetooth for low-latency communication.

    • Main Results:

    • Formation control accuracy within ±15 cm RMS error for line, wedge, and circle formations.
    • Achieved 92% audio packet delivery rate at control loop frequencies above 50 Hz.
    • Reduced individual robot energy consumption by 34% (8.2 W vs. 12.5 W) compared to centralized systems.
    • Tolerated temporary sensor occlusions up to 2 seconds using dead-reckoning and acoustic observations.

    Conclusions:

    • The proposed distributed system enables precise and energy-efficient multi-robot formation control.
    • The adaptive formation strategy enhances dynamic positioning capabilities.
    • The system demonstrates robustness against communication disruptions and sensor occlusions in field deployments.