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Swarm Robotics
Indresh Yadav
Introduction
Swarm Robotics studies a particular class of
multi-robot system.
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It emphasis aspects like decentralization of
control, robustness, flexibility and scalability.
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Inspiration
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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 selforganizing behavior can
be observed at the colony
level.
The Swarm-Bot
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An s-bot is a small
mobile autonomous
robot with selfassembling 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.
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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.
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Four proximity sensors placed under the
chassis (ground sensors), torque and traction
sensor.
Eight light sensors uniformly distributed
around the turret ,two humidity sensor & 3axis accelometer.
Each robot is also equipped with sensors and
devices to detect and communicate with each
other.
Consists of camera, LED, microphone,
loudspeaker.
Synchronization
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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, sbots produce a continuous tone with fixed
frequency and intensity.
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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.
Co-ordinated Motion
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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.
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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 semiaxes of the chassis’ frame.
2 motor neurons control wheels and turret
chassis motor.
Hole avoidance
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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.
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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.
Advantages
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Fault tolerance
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De-centralized approach
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Flexibility
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Robustness
Limitation
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Self organizing behavior.
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Interaction between individual robot.
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Interaction among components.
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Encoding of robots.
Application
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Plume tracing
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Obstacle avoidance
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Search and rescue
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Surveillance/coverage
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Convoy formation
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Move towards goal by avoiding hurdles
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