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Terra Robotics Research Arena

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The Terra Robotics Research Arena is located at Campus Valla at Linköping University and is operated by the Department of Computer and Information Science (IDA). It is a research infrastructure for autonomous and multi-robot systems, supporting high-precision testing and validation across simulation, indoor, and real-world environments, with a focus on coordinated multi-robot and swarm systems.

Terra Robotics hosts

  • Indoor research infrastructure for autonomous and multi-robot systems
  • High-precision motion capture system (Vicon, 16 cameras, high-frequency operation (typically 250 Hz, configurable higher))
  • Support for swarm robotics and multi-agent experimentation
  • Fleet of aerial and ground robotic platforms across multiple scales
  • Integrated onboard computing and communication (LTE/Wi-Fi)
  • Advanced sensing capabilities (vision, thermal, LiDAR)
  • ROS 2–based robotic system architecture developed in-house
  • Distributed communication infrastructure supporting indoor, outdoor, and remote operation
  • Support for field deployment and outdoor experimentation
  • Facilities for rapid prototyping (3D printing, CNC, electronics)

The research arena is used for both research and education purposes (courses, thesis projects).

This is the research arena

About the infrastructure

Terra Robotics Research Arena is a research infrastructure at Linköping University for controlled experimentation with autonomous and cooperative robotic systems. It provides a structured indoor environment where robotic platforms can be developed, tested, and evaluated with high accuracy and repeatability.

A central feature is a motion capture system enabling real-time tracking of multiple agents, supporting detailed analysis, benchmarking, and validation of navigation, coordination, and control algorithms. The arena supports the full workflow from prototyping and system integration to controlled testing and data collection.

 

Capabilities

The arena supports experimental research and development in:

 

Autonomy and multi-robot systems

  • Autonomous perception, decision-making, and control in distributed and networked robotic systems
  • Multi-robot and swarm coordination for collaborative sensing and action

Experimental and validation capabilities

  • High-precision motion tracking and ground-truth generation
  • Benchmarking of perception, planning, and control
  • Rapid, repeatable experimentation
  • Integration of heterogeneous robotic systems
  • Validation of robotic systems beyond controlled indoor environments

Infrastructure and facilities 

The arena includes indoor facilities for controlled experimentation, as well as supporting infrastructure for system integration and field deployment.

This includes:

  • Indoor experimental space for robotic system testing
  • A Vicon motion capture system with 16 cameras, covering approximately 12 × 12 × 5 m, delivering real-time pose estimation at up to 250 Hz with sub-millimeter and sub-degree accuracy
  • Support for synchronized multi-agent experiments and ground-truth data acquisition
  • Custom wireless communication infrastructure supporting indoor, outdoor, and remote operation, enabling coordinated and simultaneous experiments across multiple sites using Wi-Fi, LTE/5G, and VPN-based connectivity
  • Field deployment support for transport, setup, and operation of robotic systems during outdoor experiments (e.g., Ford Transit)
    ​

Prototyping and development facilities include:

  • 3D printing
  • CNC machining
  • Electronics workstations and soldering equipment
  • Workspace for system integration
 

Robotics platform

The Terra Robotics Research Arena provides access to a diverse fleet of robotic platforms, supporting experimentation across multiple scales and system types, including both aerial and ground-based systems. The controlled indoor environment enables high-precision testing and validation, with results transferable to real-world scenarios.

Aerial platforms

 

The arena includes a wide range of aerial robotic platforms for research and development.

 

Multiple Crazyflie systems support indoor swarm experiments with high-precision tracking. Several Holybro S500 v2 platforms with Pixhawk autopilot provide flexible configurations for prototyping and algorithm development.

 

Compact UAVs such as DJI Mavic 3 Enterprise and DJI Mini 4 Pro are used for perception and mapping tasks. A fleet of DJI Matrice 100 platforms and multiple DJI Matrice 300 RTK systems support advanced autonomy and sensor integration.

 

Heavy-lift capability is provided by the DJI Matrice 600, while large-scale experiments are supported by Yamaha RMAX systems.

 

Ground platforms

 

The arena also includes ground robotic systems for heterogeneous and cross-domain experimentation.

 

A Boston Dynamics Spot system with robotic arm, LiDAR (EAP-2), and custom onboard computing supports inspection and mapping tasks. A Clearpath Husky platform equipped with IMU, GPS, depth camera, and Velodyne LiDAR enables robust localization and navigation experiments.

 

Together, these platforms enable integrated experiments in heterogeneous robotics, including air–ground coordination and distributed sensing.

 

Integrated sensing and onboard systems

 

Most platforms are equipped with custom onboard computing systems with LTE and Wi-Fi connectivity, enabling real-time processing, communication, and distributed experimentation.

 

The DJI Matrice 300 RTK platforms support advanced payloads such as Zenmuse H20T, Zenmuse P1, and Zenmuse L1. The Yamaha RMAX systems include custom payloads with colour and thermal sensing and onboard processing.

System architecture and software framework

The platforms are integrated through a common ROS 2-based architecture, enabling modular development and scalable multi-robot deployment. The infrastructure also includes multiple simulation environments tailored to specific research areas, supporting both pure simulation and hardware-in-the-loop experimentation.

Custom onboard systems support real-time processing and communication. The architecture has been developed primarily by AILAB, part of the Artificial Intelligence and Integrated Computer Systems Division (AIICS) at Linköping University, building on research in autonomous intelligent systems since the early 2000s.

Use cases, collaboration and education 

Typical use cases

  • Experimental studies of multi-robot and swarm coordination
  • Development and evaluation of autonomous navigation and control methods
  • Autonomous inspection and data collection workflows in controlled environments
  • Integration and testing of heterogeneous robotic systems (air and ground)
  • Development and validation of AI-driven perception, spatial understanding, and decision-making systems
  • Benchmarking and validation using high-precision ground-truth data

Access and and collaboration

The Terra Robotics Research Arena is available to:

  • Researchers and students at Linköping University
  • Academic collaborators
  • Industry partners

The infrastructure supports collaborative projects, experimental campaigns, and prototyping activities.

For access and collaboration inquiries, please contact the responsible research group.

 

 

Education and training 

In addition to research, the arena supports education in robotics and AI at Linköping University.

 

It is used for study visits, project courses, and hands-on sessions, and supports Bachelor’s and Master’s thesis work. Students gain experience with real-world experimental setups, platforms, and tools in a structured research environment.

Contact

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Mariusz Wzorek

Assistant Professor, Head of Unit
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Department of Computer and Information Science (IDA)

The Department of Computer and Information Science is one of the largest departments in northern Europe in its field. Research activity covers artificial intelligence, human-computer interaction, software and computer systems, and data science.

Research

Robotics and Autonomous Systems

This research area encompasses a wide range of applications from industrial robots and automobiles to trucks and airborne vehicles.
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Our division and department

Image of Building E, Campus Valla.

Department of Computer and Information Science (IDA)

The Department of Computer and Information Science is one of the largest departments in northern Europe in its field. Research activity covers artificial intelligence, human-computer interaction, software and computer systems, and data science.
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Artificial Intelligence and Integrated Computer Systems (AIICS)

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