27-04-2011, 11:43 AM
Presented by
Shaiksha Vali. S
[attachment=12919]
SWARM ROBOTICS
Swarm robotics
Introduction to swarm robotics
Biological inspiration
Characteristics of swarm robotics
Algorithms of swarm robotics
Communication in swarm robotics
Co-ordination in swarm robotics
Reconfigurable swarm robotics
Applications
INTRODUCTION TO SWARM ROBOTICS
Robot
Swarm robot
Swarm robotics
Definition :Swarm robotics is branch of robotics which is a new approach to the coordination of multi robot system which consist of large numbers of mostly simple physical robots. It is supposed that a desired collective behavior emerges from the interactions between the robots and interactions of robots with the environment
Biological inspiration
Swarm intelligence
“The emergent collective intelligence of groups of simple agents.”
Foraging Behavior
Many ant species forage for food using a trail- laying trail- following behavior. As explorer ants leave their nest in search of food they leave a trail of pheromones. The foraging ants trek across the land in a random walk fashion, some of them eventually finding a food source. When an ant discovers a food source, it retraces its route back to the nest – still leaving pheromones. Hence the amount of pheromone on the trail to the food source is now twice as intense as any other trail leaving the nest. Other ants are then attracted by the pheromones and follow the trail left by the pioneering ant. These subsequent ants also leave a trail of pheromones, further intensifying the odor
Characteristics
Robustness
Flexibility
De-centralized approach
scalability
Algorithms of swarm robotics
Dispersion in indoor environment
Mobile formations
Co-operative hole avoidance
Chain based path formation
Chain based path formation
The S-bot controller for this algorithm is very simple and elegant. The controller is designed as a simple state-machine that consists of four states: search, explore, chain and finished. Each state is associated with a repetitive task that the S-bot performs until sensory data causes the robot to transition to another state.
procedure
• Search – randomly walk around the arena and avoid obstacles with infrared sensors. No LEDs
are illuminated in this state since the S-bot is not contributing to the location of the prey.
• Explore – move along a chain by following colors. A chain always follows the following pattern:
blue then green then yellow, repeated. From this information a robot knows which direction
down a chain it is going (i.e. the S-bot will see BGYBGYBG... if moving g away from the nest
and will see BYGBYGBYG... if moving towards the nest).
• Search ! Explore – if a chain member has been detected to be close.
• Chain – be a member of the chain with the color based on the previous S-bot in the chain.
Actively try to maintain a specific distance from both neighbors in the chain. Also, actively
maintain a 180 angle between both neighbors, give or take (i.e. approximately opposite
sides).
• Explore ! Chain – if the prey is close, join the chain or if the tail of a chain is reached, join
with it
• Chain ! Explore – If at the tail of a chain, leave the chain
• Finished – the task has been completed. Now it can move on to other tasks, such as object
transport.
• Explore! Finished – if the destination is really close.
• Explore ! Search – no chain member is in sight. This will only be caused by an error or fault.
Simple S-bot
An s-bot is a small mobile autonomous robot with self-assembling capabilities.
It weighs 700 g and its main body has a diameter of about 12 cm.
The traction system is composed of both tracks and wheels.
The gripper is mounted on Turret as some freedom for lifting object.
Gripper used for connecting to S-Bots and objects.
Four proximity sensors placed under the chassis (ground sensors), torque and traction sensor.
Eight light sensors uniformly distributed around the turret ,two humidity sensor & 3-axis accelerometer.
Each robot is also equipped with sensors and devices to detect and communicate with each other.
Consists of transmitter, receiver ,camera, LED, microphone, loudspeaker.
Types of communication
Any task requires communication between the robots therefore the principle is that each s-bot in the group displays a simple periodic behavior. It means their oscillations are in phase with each other. In order to communicate with each other, s-bots produce a continuous tone with fixed frequency and intensity. It is perceived by every robot in arena. The tone is perceived in a binary way.
Communication actually takes place using ad-hoc wireless communications
like RF or I
Two types of communication 1.Interaction via sensing 2.Interaction via communication
Interaction via sensing
if two robots interacting to pull a stick and sensing each other’s action in a limited way , this work is considered as “interaction via sensing”.
Interaction via sensing requires the discrimination of other robots from the environment objects, also called as the kin recognition.
kin recognition is considered as a kind of minimalist communication mechanism since just by discriminating the kin and observing their behaviors (without explicit communication),the robots can manage to solve several problems (e.g. flocking, chain formation and cooperative stick pulling) in swarm robotics.
Interaction via communication
robots broadcasts information packages directly or switches on/off a light around them to show their state, these studies are considered to be the type of “interaction via communication”
If the sender in the interaction aims to give information to other robots intentionally then that study is categorized as “interaction via communication”
Co-ordination
Centralized: the organization of a system having a robotic agent (a leader) that is in charge of organizing the work of the other robots; the leader is involved in the decisional process for the whole team, while the other members act according to the directions of the leader.
Decentralized: the organization of a system composed by robotic agents which are completely autonomous in the decisional process with respect to each other; in this class of systems a leader does not exist.
Reconfigurable swarm bots
Lattice architecture
Chain architecture
Mobile architecture
Applications
Plume tracing
Obstacle avoidance
Search and rescue
Shaiksha Vali. S
[attachment=12919]
SWARM ROBOTICS
Swarm robotics
Introduction to swarm robotics
Biological inspiration
Characteristics of swarm robotics
Algorithms of swarm robotics
Communication in swarm robotics
Co-ordination in swarm robotics
Reconfigurable swarm robotics
Applications
INTRODUCTION TO SWARM ROBOTICS
Robot
Swarm robot
Swarm robotics
Definition :Swarm robotics is branch of robotics which is a new approach to the coordination of multi robot system which consist of large numbers of mostly simple physical robots. It is supposed that a desired collective behavior emerges from the interactions between the robots and interactions of robots with the environment
Biological inspiration
Swarm intelligence
“The emergent collective intelligence of groups of simple agents.”
Foraging Behavior
Many ant species forage for food using a trail- laying trail- following behavior. As explorer ants leave their nest in search of food they leave a trail of pheromones. The foraging ants trek across the land in a random walk fashion, some of them eventually finding a food source. When an ant discovers a food source, it retraces its route back to the nest – still leaving pheromones. Hence the amount of pheromone on the trail to the food source is now twice as intense as any other trail leaving the nest. Other ants are then attracted by the pheromones and follow the trail left by the pioneering ant. These subsequent ants also leave a trail of pheromones, further intensifying the odor
Characteristics
Robustness
Flexibility
De-centralized approach
scalability
Algorithms of swarm robotics
Dispersion in indoor environment
Mobile formations
Co-operative hole avoidance
Chain based path formation
Chain based path formation
The S-bot controller for this algorithm is very simple and elegant. The controller is designed as a simple state-machine that consists of four states: search, explore, chain and finished. Each state is associated with a repetitive task that the S-bot performs until sensory data causes the robot to transition to another state.
procedure
• Search – randomly walk around the arena and avoid obstacles with infrared sensors. No LEDs
are illuminated in this state since the S-bot is not contributing to the location of the prey.
• Explore – move along a chain by following colors. A chain always follows the following pattern:
blue then green then yellow, repeated. From this information a robot knows which direction
down a chain it is going (i.e. the S-bot will see BGYBGYBG... if moving g away from the nest
and will see BYGBYGBYG... if moving towards the nest).
• Search ! Explore – if a chain member has been detected to be close.
• Chain – be a member of the chain with the color based on the previous S-bot in the chain.
Actively try to maintain a specific distance from both neighbors in the chain. Also, actively
maintain a 180 angle between both neighbors, give or take (i.e. approximately opposite
sides).
• Explore ! Chain – if the prey is close, join the chain or if the tail of a chain is reached, join
with it
• Chain ! Explore – If at the tail of a chain, leave the chain
• Finished – the task has been completed. Now it can move on to other tasks, such as object
transport.
• Explore! Finished – if the destination is really close.
• Explore ! Search – no chain member is in sight. This will only be caused by an error or fault.
Simple S-bot
An s-bot is a small mobile autonomous robot with self-assembling capabilities.
It weighs 700 g and its main body has a diameter of about 12 cm.
The traction system is composed of both tracks and wheels.
The gripper is mounted on Turret as some freedom for lifting object.
Gripper used for connecting to S-Bots and objects.
Four proximity sensors placed under the chassis (ground sensors), torque and traction sensor.
Eight light sensors uniformly distributed around the turret ,two humidity sensor & 3-axis accelerometer.
Each robot is also equipped with sensors and devices to detect and communicate with each other.
Consists of transmitter, receiver ,camera, LED, microphone, loudspeaker.
Types of communication
Any task requires communication between the robots therefore the principle is that each s-bot in the group displays a simple periodic behavior. It means their oscillations are in phase with each other. In order to communicate with each other, s-bots produce a continuous tone with fixed frequency and intensity. It is perceived by every robot in arena. The tone is perceived in a binary way.
Communication actually takes place using ad-hoc wireless communications
like RF or I
Two types of communication 1.Interaction via sensing 2.Interaction via communication
Interaction via sensing
if two robots interacting to pull a stick and sensing each other’s action in a limited way , this work is considered as “interaction via sensing”.
Interaction via sensing requires the discrimination of other robots from the environment objects, also called as the kin recognition.
kin recognition is considered as a kind of minimalist communication mechanism since just by discriminating the kin and observing their behaviors (without explicit communication),the robots can manage to solve several problems (e.g. flocking, chain formation and cooperative stick pulling) in swarm robotics.
Interaction via communication
robots broadcasts information packages directly or switches on/off a light around them to show their state, these studies are considered to be the type of “interaction via communication”
If the sender in the interaction aims to give information to other robots intentionally then that study is categorized as “interaction via communication”
Co-ordination
Centralized: the organization of a system having a robotic agent (a leader) that is in charge of organizing the work of the other robots; the leader is involved in the decisional process for the whole team, while the other members act according to the directions of the leader.
Decentralized: the organization of a system composed by robotic agents which are completely autonomous in the decisional process with respect to each other; in this class of systems a leader does not exist.
Reconfigurable swarm bots
Lattice architecture
Chain architecture
Mobile architecture
Applications
Plume tracing
Obstacle avoidance
Search and rescue
