This is a collection of movies captured by members of Vijay Kumar's research group in the Grasp Lab at the University of Pennsylvania. Most movies feature our Scarab platform either in simulation or in the lab and focus on decentralized solutions to a number of multi-robot problems.

Cooperative Planar Manipulation using Compliant End Effector Tags: sacrab manipulation compliant gripper	RDK - Planning with Uncertainty in Vehicle Dynamics Tags: RDK Planning	RDK planning through an environment Tags: RDK planning gaits
Scarab with gripper: Attaching/detaching to object Tags: scarab manipulation gripper	Scarab with gripper: Attaching to object Tags: scarab manipulation gripper	Planning and Control of Ensembles of Robots with Nonholonomic Constraints (IJRR 2009) Tags: scarab
Cooperative Manipulation with Aerial Robot: Circular Trajectory Tags: manipulation quadrotors	Cooperative Manipulation and Transportation with Aerial Robots Tags: towing quadrotors manipulation	Cooperative Aerial Towing - Manipulation Tags: towing
Aerial Towing - Maintaining Pose Tags: towing	Cooperative Towing - Complex Plan Tags: scarab manipulation towing	SCAT Implementation with Nine Robots and Three Intruder Tags: coverage mobile multi-agent
SCAT Implementation with Five Robots and One Intruder Tags: scarabs coverage tracking	Experiments in Robust Towing Tags: scarabs manipulation towing	Caging Manipulation of L-shape Tags: scarab manipulation caging raw
Caging Manipulation of L-Shape with Obstacles (Simulated) Tags: simulation manipulation caging	Caging with Obstacles (Simulation 3) Tags: simulation manipulation caging	SPH-based Multi-Agent Control 8x Experimentation (ICRA08) Tags: scarab
SPH-based Multi-Agent Control 4x Simulation (ICRA08) Tags: scarab gazebo	Caging Manipulation With Obstacle (simulation) Tags: simulation manipulation caging	Shape Control with Obstacles Tags: simulation shape control
Star Shape Control (handheld) Tags: scarab shape control	Simulation of MOUT Site Tags: simulation	Caging Manipulation (RSS07) Tags: scarab manipulation caging
Caging Manipulation (innertube + sinusoid trajectory) Tags: scarab manipulation caging	Demonstration of Khepri Tracking Scarabs Tags: scarab khepri	Caging Manipulation + Global Navigation Tags: simulation manipulation caging
Shape Navigation Function With Obstacle (handheld) Tags: scarab shape control	Shape Navigation Function With Obstacle Tags: scarab shape control	Distributed Task Assignment Simulation (ICRA08) Tags: gazebo
SPH-based Multi-Agent Control (ICRA08) Tags: scarab	Vision-only Leader-Follower Control Experimental Implementation Tags: scarab	Vision-only Leader-Follower Control Simulation Tags: scarab gazebo
Formation Control via Abstractions with Collision Avoidance (RSS08) Tags: scarab formation control	Mixed Initiative Control using Multi-Robot Navigation Functions Tags: scarab mixed initiative	Implicit Surface Controller Simulation (ICRA05) Tags:
Distributed Connectivity Control Simulation (ISER08) Tags: scarab connectivity control	Circular Flocking Controller with Collision Avoidance (RSS08) Tags: scarab flocking	Air-Ground Abstraction Control, Experimental Implementation (IROS07) Tags: scarab khepri gazebo
Air-Ground Abstraction Control, Simulation (IROS07) Tags: scarab khepri gazebo	Caging Manipulation With Obstacle (ICRA08) Tags: scarab manipulation caging	Caging Manipulation (ICRA08) Tags: scarab manipulation caging
Distributed Connectivity Control Experiments (ISER08) Tags: scarab connectivity control	Pull 3 Tags: scarab manipulation towing	Robust Pushing (RSS08) Tags: scarab manipulation pushing
Pull 2 Tags: scarab manipulation towing