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.
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Scarab with gripper: Attaching/detaching to object
Tags: scarab manipulation gripper

Scarab with gripper: Attaching to object
Tags: scarab manipulation gripper

Cooperative Planar Manipulation using Compliant End Effector
Tags: sacrab manipulation compliant gripper

Caging Manipulation of L-shape
Tags: scarab manipulation caging raw

Caging Manipulation (RSS07)
Tags: scarab manipulation caging

Caging Manipulation (innertube + sinusoid trajectory)
Tags: scarab manipulation caging

Caging Manipulation With Obstacle (ICRA08)
Tags: scarab manipulation caging

Caging Manipulation (ICRA08)
Tags: scarab manipulation caging

Cooperative Manipulation and Transportation with Aerial Robots
Tags: towing quadrotors manipulation

Cooperative Towing - Complex Plan
Tags: scarab manipulation towing

Experiments in Robust Towing
Tags: scarabs manipulation towing

Pull 3
Tags: scarab manipulation towing

Robust Pushing (RSS08)
Tags: scarab manipulation pushing

Pull 2
Tags: scarab manipulation towing

Caging Manipulation + Global Navigation
Tags: simulation manipulation caging

Caging Manipulation With Obstacle (simulation)
Tags: simulation manipulation caging

Caging Manipulation of L-Shape with Obstacles (Simulated)
Tags: simulation manipulation caging

Cooperative Aerial Towing - Manipulation
Tags: towing

Cooperative Manipulation with Aerial Robot: Circular Trajectory
Tags: manipulation quadrotors

Planning and Control of Ensembles of Robots with Nonholonomic Constraints (IJRR 2009)
Tags: scarab

SCAT Implementation with Five Robots and One Intruder
Tags: scarabs coverage tracking

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

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

Distributed Connectivity Control Experiments (ISER08)
Tags: scarab connectivity control

Caging with Obstacles (Simulation 3)
Tags: simulation manipulation caging