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Swarm Robotics

Swarm Robotics. Indresh Yadav. Introduction. Swarm Robotics studies a particular class of multi-robot system. It emphasis aspects like decentralization of control, robustness, flexibility and scalability. Inspiration. Inspired by the behavior of social insects.

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Swarm Robotics

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  1. Swarm Robotics Indresh Yadav

  2. Introduction Swarm Robotics studies a particular class of multi-robot system. It emphasis aspects like decentralization of control, robustness, flexibility and scalability.

  3. Inspiration • Inspired by the behavior of social insects. • Each single ant acts autonomously following simple rules and locally interacting with the other ants. • A coherent and self-organizing behavior can be observed at the colony level.

  4. The Swarm-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.

  5. Cylindrical turret mounted on the chassis by means of a motorized joint. • The gripper is mounted on Turret as some freedom for lifting object. • Gripper used for connecting to S-Bots and objects.

  6. 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 accelometer. • Each robot is also equipped with sensors and devices to detect and communicate with each other. • Consists of camera, LED, microphone, loudspeaker.

  7. Synchronization • The task requires 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.

  8. It is perceived by every robot in arena. The tone is perceived in a binary way. One sensory neuron is used for perception of sound.

  9. Co-ordinated Motion • It is a basic ability due to physical interaction among s-bots. • They must co-ordinate their action to choose common direction of movement. • It can efficiently move only if the chassis of the assembled s-bots have the same orientation.

  10. A common direction of motion on the basis of the information provided by their traction sensor. • Four sensory neurons encode the intensity of traction along four directions, corresponding to the direction of the semi-axes of the chassis’ frame. • 2 motor neurons control wheels and turret chassis motor.

  11. Hole avoidance • Individual s-bots cannot avoid holes due to their limited perceptual apparatus. • To safely navigate arena consisting of holes Co-ordination motion must be performed. Presence of holes must be communicated.

  12. Communication among the s-bots Direct Interactions setup (DI) Direct Communication setup (DC) Evolved Communication setup (EC) • In all three setups (DI, DC and EC), s-bots are equipped with traction and ground sensors. In DC and EC, microphones and speakers are also used.

  13. Advantages • Fault tolerance • De-centralized approach • Flexibility • Robustness

  14. Limitation • Self organizing behavior. • Interaction between individual robot. • Interaction among components. • Encoding of robots.

  15. Application • Plume tracing • Obstacle avoidance • Search and rescue • Surveillance/coverage • Convoy formation • Move towards goal by avoiding hurdles

  16. Thank You!!

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