1 / 11

Physics Based Formation Behavior in Autonomous Robots

Physics Based Formation Behavior in Autonomous Robots. Mark Patterson. Emergent Behavior. Emergent or global behavior is observed in the interactions between homogeneous robots. Autonomy / Independence Local decision procedures Social based and hierarchal based behavior

igor-guerra
Download Presentation

Physics Based Formation Behavior in Autonomous Robots

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Physics Based Formation Behavior in Autonomous Robots Mark Patterson

  2. Emergent Behavior • Emergent or global behavior is observed in the interactions between homogeneous robots. • Autonomy / Independence • Local decision procedures • Social based and hierarchal based behavior • Physics based behavior • Provides theoretical guarantees about behavior.

  3. Diamond Wedge Line Column Formation Behavior • Robots will naturally form into structures using a force vector. • Four structures of interest

  4. Formation Behavior • Formations within a volume • Even distribution regardless of the number of robots.

  5. Practical Applications of Formation Behavior • Distributed Arrays / Matrices • Investigation • Exploration • Search • Surveillance • Defense

  6. System Development • Design, fabricate, and implement fleet of inexpensive autonomous mobile robots • Localization / Where am I? • Detecting the presence of other robots • Communication • Knowledge of environment • Sensors

  7. Communication • Asynchronous Serial Communication • Implementations - Pulse Code Modulation (PCM) • Infrared • Transmitter and receiver “on board” the controller module. • Radio frequency - 300 Mhz • Inexpensive garage door transmitters and receivers. • Error control • IR Protocol • 8 bit data/32 bit signal • RF Protocol • 8 bit data/8 bit signal • Stop and wait ARQ

  8. (0,0) b a c Localization • Force vector • Range • Bearing • Beacon system • Trilateration • Position relative to at least two other objects • Distance between each of three objects

  9. (0,0) Ultrasonic transducer beacons • Inexpensive • Omni-directional • Effective range – approx. 1 meter • Reflexive response • response time + (2)(time of flight)

  10. Prototype Lego™robot

  11. Current & future work • Finish development of ultrasonic transducer beacons. • Implement localization algorithm • Demonstrate and record physics based formation behavior. • Validate the behavior using formal methods.

More Related