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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0, shrink-to-fit=no">
<title>CyPhyHouse</title>
<link rel="stylesheet" href="assets/bootstrap/css/bootstrap.min.css">
<link rel="stylesheet" href="assets/css/Article-List.css">
<link rel="stylesheet" href="assets/css/Contact-Form-Clean.css">
<link rel="stylesheet" href="assets/css/Features-Boxed.css">
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/lightbox2/2.8.2/css/lightbox.min.css">
<link rel="stylesheet" href="assets/css/Lightbox-Gallery.css">
<link rel="stylesheet" href="assets/css/Projects-Horizontal.css">
<link rel="stylesheet" href="assets/css/styles.css">
<link rel="stylesheet" href="assets/css/Team-Clean.css">
<link rel="stylesheet" href="assets/css/Team-Grid.css">
</head>
<body>
<div class="article-list">
<nav class="navbar navbar-light navbar-expand-md bg-light">
<div class="container-fluid"><a class="navbar-brand" href="index.html">Home</a><button data-toggle="collapse" class="navbar-toggler" data-target="#navcol-1"><span class="sr-only">Toggle navigation</span><span class="navbar-toggler-icon"></span></button>
<div class="collapse navbar-collapse"
id="navcol-1">
<ul class="nav navbar-nav ml-auto">
<li class="nav-item" role="presentation"><a class="nav-link active" href="docs.html">Publications</a></li>
<li class="nav-item" role="presentation"><a class="nav-link active" href="downloads.html">Downloads</a></li>
<li class="nav-item" role="presentation"><a class="nav-link" href="team.html">Team</a></li>
<li class="nav-item" role="presentation"><a class="nav-link" href="contact.html">Contact Us</a></li>
</ul>
</div><img src="assets/img/NSFlogo.png" height="40"></div>
</nav>
<div class="container">
<div class="intro"><h2 class="text-center">CyPhyHouse: a toolchain for distributed robotics</h2>
<p class="text-center">CyPhyHouse aims to provide programming, debugging, and deployment benefits for distributed mobile robotic applications. Develop hardware-agnostic, distributed applications using the high-level, event driven Koord programming language included
with CyPhyHouse, without requiring expertise in controller design or distributed network protocols.<br><br></p>
</div>
</div>
</div>
<div class="bg-white border-white features-boxed"></div>
<div class="container">
<div class="heading"></div>
<div class="row justify-content-between">
<div class="col-md-6 col-lg-4">
<div class="card border-0"><img class="card-img-top w-100 d-block card-img-top scale-on-hover card-img-size-small" alt="Card Image" src="assets/img/cphlogo.png" >
<div class="card-body">
<h6 class="text-center">Koord Programming Language</h6>
<p class="text-justify text-muted card-text">Our high level programming language, Koord, makes code clean and succinct through abstractions.</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-4">
<div class="card border-0"><img class="card-img-top w-100 d-block card-img-top scale-on-hover card-img-size-small" src="assets/img/python.png" alt="Card Image" >
<div class="card-body">
<h6 class="text-center">Modular Python3 Middleware</h6>
<p class="text-justify text-muted card-text">We use Python 3 to implement the CyPhyHouse middleware, with a modular and extensible design for greater flexibility.</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-4">
<div class="card border-0"><img class="card-img-top w-100 d-block card-img-top scale-on-hover card-img-size-small" src="assets/img/warehouse-delivery-sim.gif" alt="Card Image" >
<div class="card-body">
<h6 class="text-center">Simulation in Gazebo</h6>
<p class="text-justify text-muted card-text">Our simulation environment in Gazebo allows convenient testing and debugging of multi-robot applications.</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-4">
<div class="card border-0"><img class="card-img-top w-100 d-block card-img-top scale-on-hover card-img-size-small" src="assets/img/logos.png" alt="Card Image">
<div class="card-body">
<h6 class="text-center">Formal verification of Koord Applications</h6>
<h6 class="text-center"></h6>
<p class="text-justify text-muted card-text">We are working on Koord enabled formal verification of multi-robot applications using a variety of validation tools.</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-4">
<div class="card border-0"><img class="card-img-top w-100 d-block card-img-top scale-on-hover card-img-size-small" src="assets/img/ROS%20LOGO.jpeg" alt="Card Image">
<div class="card-body">
<h6 class="text-center">ROS for lower level functionality</h6>
<p class="text-justify text-muted card-text">Control and actuation in the CyPhyHouse toolchain are done in simulation and deployment using ROS.</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-4">
<div class="card border-0"><img class="card-img-top w-100 d-block card-img-top scale-on-hover card-img-size-small" src="assets/img/irl-delivery-deploy.gif" alt="Card Image">
<div class="card-body">
<h6 class="text-center">Deployment at Intelligent Robotics Lab</h6>
<h6 class="text-center"></h6>
<p class="text-justify text-muted card-text">We have deployed several Koord applications in the Flight Arena (equipped with VICON) at the IRL at UIUC.</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-6">
<div class="card border-0"><iframe class="flex-grow-1 flex-shrink-1 flex-wrap card-iframe-size-medium" allowfullscreen="" frameborder="0" src="https://www.youtube.com/embed/l_1o7SbOx3k"></iframe>
<div class="card-body" style="text-align: center;">
<h6 class="text-center">Towards Verified Robot Code</h6>
<p class="text-justify text-muted card-text">Talk at Workshop on Safe Autonomy: Learning, Verification, and Trusted Operation of Autonomous Systems with c3.ai</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-6">
<div class="card border-0"><iframe class="flex-grow-1 flex-shrink-1 flex-wrap card-iframe-size-medium" allowfullscreen="" frameborder="0" src="https://www.youtube.com/embed/47st8zUDd54"></iframe>
<div class="card-body" style="text-align: center;">
<h6 class="text-center">An overview of CyPhyHouse</h6>
<p class="text-justify text-muted card-text">A quick overview of CyPhyHouse, including the design of a distributed task allocation application</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-6">
<div class="card border-0"><iframe class="flex-grow-1 flex-shrink-1 flex-wrap card-iframe-size-medium" allowfullscreen="" frameborder="0" src="https://www.youtube.com/embed/NWeTkZdE8jE"></iframe>
<div class="card-body" style="text-align: center;">
<h6 class="text-center">Abstractions for Programming Distributed Robotic Applications</h6>
<p class="text-justify text-muted card-text">Talk at Workshop on Safe Operation of Connected and Autonomous Vehicle Fleets</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-6">
<div class="card border-0"><iframe class="flex-grow-1 flex-shrink-1 flex-wrap card-iframe-size-medium" allowfullscreen="" frameborder="0" src="https://www.youtube.com/embed/Hf8OUsXBIhc"></iframe>
<div class="card-body" style="text-align: center;">
<h6 class="text-center"><a href="https://doi.org/10.1145/3428300">Koord: A Language for Programming and Verifying Distributed Robotics Applications</a></h6>
<p class="text-justify text-muted card-text">Video presentation for OOPSLA 2020 on Koord programming language and verification</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-4">
<div class="card border-0"><img class="card-img-top scale-on-hover" src="assets/img/IMG_4231.JPG" alt="Card Image">
<div class="card-body">
<h6 class="text-center">CyPhyHouse at the Pygmalion Festival 2019</h6>
<h6 class="text-center"></h6>
<p class="text-justify text-muted card-text">Student researchers interacting with the local community about CyPhyHouse.</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-4">
<div class="card border-0"><img class="card-img-top w-100 d-block card-img-top scale-on-hover" src="assets/img/IMG_0128.jpg" alt="Card Image">
<div class="card-body">
<h6 class="text-center">Engineering Open House 2018</h6>
<h6 class="text-center"></h6>
<p class="text-justify text-muted card-text">A successful demo at the EOH 2018 of a firefighting application.</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-4">
<div class="card border-0"><img class="card-img-top w-100 d-block card-img-top scale-on-hover" src="assets/img/Screenshot%202020-06-01%2008.31.18.png" alt="Card Image">
<div class="card-body">
<h6 class="text-center">End of Summer Workshop for Undergraduate Researchers on CyPhyHouse</h6>
<h6 class="text-center"></h6>
<p class="text-justify text-muted card-text">Celebrating a productive summer with some of our talented and hard-working undergraduate team members.</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-4">
<div class="card border-0"><iframe class="flex-grow-1 flex-shrink-1 flex-wrap card-iframe-size-small" allowfullscreen="" frameborder="0" src="https://www.youtube.com/embed/5v--Bmg7qbg"></iframe>
<div class="card-body" style="text-align: center;">
<h6 class="text-center"></h6>
<h6 class="text-center">Simulation of Drone Formation Flight using CyPhyHouse</h6>
<p class="text-justify text-muted card-text">Simulation video of drone formation flight in our simulation environment in Gazebo. Drones automatically align themselves with their neighbors through communication except for the drones at the corners.</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-4">
<div class="card border-0"><iframe class="flex-grow-1 flex-shrink-1 flex-wrap card-iframe-size-small" allowfullscreen="" frameborder="0" src="https://www.youtube.com/embed/8Jy2eJ9qAFo"></iframe>
<div class="card-body" style="text-align: center;">
<h6 class="text-center"></h6>
<h6 class="text-center">Simulation of Task Application using CyPhyHouse</h6>
<p class="text-justify text-muted card-text">Simulation video of distributed task allocation in our simulation environment. The grey circles are unassigned tasks, red are assigned, and green are completed.</p>
</div>
</div>
</div>
<div class="col-md-6 col-lg-4">
<div class="card border-0"><iframe class="flex-grow-1 flex-shrink-1 flex-wrap card-iframe-size-small" allowfullscreen="" frameborder="0" src="https://www.youtube.com/embed/sYwyrb50btk" style="text-align: center;"></iframe>
<div class="card-body">
<h6 class="text-center"></h6>
<h6 class="text-center">Simulation of Mapping Application using CyPhyHouse</h6>
<p class="text-justify text-muted card-text">A mapping application simulated in the Gazebo simulation environment, where two robots collaboratively build an approximate map of unknown static obstacles using LIDAR sensing.</p>
</div>
</div>
</div>
</div>
</div>
<footer>
<p class="text-center text-dark bg-white"><br><br><br>This project is sponsored by a research grant from the Division of Computer and Network Systems (CNS) of the<a href="https://www.nsf.gov/">National Science Foundation (NSF)</a>.</p>
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