CATS, the Control and Tracking Software

This chapter introduces the high-level software infrastructure developed for automated experimentation and analysis of mixed groups composed of robots and fish (Fig. 7.1). We will first describe the general architecture of the software. Then, in more detail, we describe the tracking tools that were used to retrieve the position of the robots and the zebrafish during the experiments, as well as the interface to control the robots. The different implementations of robot's behaviors and navigation techniques will also be described. Finally, a short description of the possible extensions of the system to connect multiple experimental setup through the Internet will close the chapter. This chapter is based on the publication Multi-robotsControl and Tracking Framework for Bio-hybrid Systems with Closed-loop Interaction (Bonnet et al. 2017a) with slight modifications to fit the present dissertation.