Ground Robots

Two Turtlebot 2i's by Trossen Robotics allow for research into nonlinear and adaptive control, switched systems, and human-robot interaction. Each Turtlebot is equipped with a 5-DoF robot manipulator, an Intel Realsense camera, and an Astra Orbbec camera. 

Aerial Robots

Ten Crazyflie 2.1's allow for research into nonlinear and adaptive control, switched systems, and swarm control. ​

Robot Manipulators

The Kinova Gen3 robotic manipulator allows for research into nonlinear and adaptive control, switched systems, and human-robot interaction. The manipulator is equipped with an Intel Realsense camera and a Robotiq Gripper for vision-based manipulation and control. 

Vicon Motion Capture System

The CHARS Laboratory is equipped with eight Vero 2.2 cameras and Vicon's Tracker software to track rigid bodies and robots.