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.

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 Towing - Complex Plan Tags: scarab manipulation towing	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	SPH-based Multi-Agent Control 8x Experimentation (ICRA08) Tags: scarab	SPH-based Multi-Agent Control 4x Simulation (ICRA08) Tags: scarab gazebo
Star Shape Control (handheld) Tags: scarab shape control	Caging Manipulation (RSS07) Tags: scarab manipulation caging	Caging Manipulation (innertube + sinusoid trajectory) Tags: scarab manipulation caging
Demonstration of Khepri Tracking Scarabs Tags: scarab khepri	Shape Navigation Function With Obstacle (handheld) Tags: scarab shape control	Shape Navigation Function With Obstacle Tags: scarab shape control
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	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