Connected and automated vehicles and robot swarms hold transformative potential for enhancing safety, efficiency, and sustainability in the transportation and manufacturing sectors. Extensive testing and validation of these technologies is crucial for their deployment in the real world. While simulations are essential for initial testing, they often have limitations in capturing the complex dynamics of real-world interactions. This limitation underscores the importance of small-scale testbeds. These testbeds provide a realistic, cost-effective, and controlled environment for testing and validating algorithms, acting as an essential intermediary between simulation and full-scale experiments. This work serves to facilitate researchers' efforts in identifying existing small-scale testbeds suitable for their experiments and provide insights for those who want to build their own. In addition, it delivers a comprehensive survey of the current landscape of these testbeds. We derive 62 characteristics of testbeds based on the well-known sense-plan-act paradigm and offer an online table comparing 22 small-scale testbeds based on these characteristics. The online table is hosted on our designated public webpage www.cpm-remote.de/testbeds, and we invite testbed creators and developers to contribute to it. We closely examine nine testbeds in this paper, demonstrating how the derived characteristics can be used to present testbeds. Furthermore, we discuss three ongoing challenges concerning small-scale testbeds that we identified, i.e., small-scale to full-scale transition, sustainability, and power and resource management.

Multi-Agent Reinforcement Learning (MARL) has enjoyed significant recent progress thanks, in part, to the integration of deep learning techniques for modeling interactions in complex environments. This is naturally starting to benefit multi-robot systems (MRS) in the form of multi-robot RL (MRRL). However, existing infrastructure to train and evaluate policies predominantly focus on the challenges of coordinating virtual agents, and ignore characteristics important to robotic systems. Few platforms support realistic robot dynamics, and fewer still can evaluate Sim2Real performance of learned behavior. To address these issues, we contribute MARBLER: Multi-Agent RL Benchmark and Learning Environment for the Robotarium. MARBLER offers a robust and comprehensive evaluation platform for MRRL by marrying Georgia Tech's Robotarium (which enables rapid deployment on physical MRS) and OpenAI's Gym interface (which facilitates standardized use of modern learning algorithms). MARBLER offers a highly controllable environment with realistic dynamics, including barrier certificate-based obstacle avoidance. It allows anyone across the world to train and deploy MRRL algorithms on a physical testbed with reproducibility. Further, we introduce five novel scenarios inspired by common challenges in MRS and provide support for new custom scenarios. Finally, we use MARBLER to evaluate popular MARL algorithms and provide insights into their suitability for MRRL. In summary, MARBLER can be a valuable tool to the MRS research community by facilitating comprehensive and standardized evaluation of learning algorithms on realistic simulations and physical hardware. Links to our open-source framework and videos of real-world experiments can be found at https://shubhlohiya.github.io/MARBLER/.

An impressive array of robots serves as a fitting backdrop for Stewart Miller, the CEO of the new National Robotarium, in a large and mostly empty space in a swish new building on the campus of Heriot-Watt University on the outskirts of Edinburgh. Launched in September in partnership with Edinburgh University, the center aims to bolster the UK's artificial intelligence (AI) and robotics sector, which Miller believes is lagging behind the major players. "We're rich in research in AI," he explains, "but where we tend to stumble – not just with AI, but with other technology as well – is when we try to take it out of the research setting and apply it. That's why we've been set up." In the weeks and months ahead this large, sparse space will fill up as it welcomes various tenant start-up AI and robotics firms and takes them under its wing.

Video Friday is your weekly selection of awesome robotics videos, collected by your Automaton bloggers. We'll also be posting a weekly calendar of upcoming robotics events for the next two months; here's what we have so far (send us your events!): Let us know if you have suggestions for next week, and enjoy today's videos. Sadly, not everyone can afford a lab full of robots to experiment with. We'll be checking back in with the Robotarium just as soon as the rest of the world starts using it for research.

When developing algorithms for coordinating the behaviors of swarms of robots it is crucial that the algorithms are actually deployed and tested on real hardware platforms. Unfortunately, building and maintaining a swarm robotics testbed is a resource-intense proposition and, as a consequence, resources rather than ideas tend to be the bottleneck and swarm robotics research does not progress at the rate it could. The Robotarium sets out to remedy this problem by providing remote access to a large team of robots, where users can upload their code, run the experiments remotely, and get the scientific data back. This article describes the structure and architecture of the Robotarium as well as discusses what constitutes an effective, remotely accessible research platform. This paper won the IEEE Robotics & Automation Best Multi-Robot Systems Award at ICRA 2017.

A few years ago, Magnus Egerstedt was walking through the swarm robotics laboratory at the Georgia Institute of Technology, where he is associate director of research, feeling proud of the research spearheaded there, when a disturbing thought crossed his mind. "I began thinking about the robotics laboratories where people are doing things that matter. There's not even ten of them globally," Egerstedt says. "That's weird, because so many people are working on swarm robotics, but it takes money and people to drive research that matters. He immediately envisioned a way to give robotics researchers who aren't with those top labs access to top-lab capabilities. And he knew students at all levels, grade school to graduate school, could benefit as well. "I used as a model the Large Hadron Collider," Egerstedt says. "Physicists realized large particle colliders were too expensive to build separately, so they share.