PФSS: An Open-source Experimental Setup for Continuous Real-world Implementation of Swarm Robotic Systems

Date

2018-10-19

Author

Turgut, Ali Emre
Krajnik, Tomas

Metadata

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Swarm robotics is a relatively new research field that employs multiple robots (tens, hundreds or even thousands) that collaborate on complex tasks. There are several issues which limit the real-world application of swarm robotic scenarios, e.g. autonomy time, communication methods, and cost of commercialised robots. We present a platform, which aims to overcome the aforementioned limitations while using off-the-shelf components and freely-available software. The platform combines (i) a versatile open-hardware micro-robot capable of local and global communication, (ii) commercially-available wireless charging modules which provide virtually unlimited robot operation time, (iii) open-source marker-based robot tracking system for automated experiment evaluation, (iv) and a LCD display or a light projector to simulate environmental cues and pheromone communication. To demonstrate the versatility of the system, we present several scenarios, where our system was used.

Subject Keywords

Open-source, Swarm robotics, Artificial pheromone, Perpetual robot swarm, Tracking system

URI

https://www.mscoe.org/event/mesas-2018/
https://hdl.handle.net/11511/73032
https://link.springer.com/chapter/10.1007/978-3-030-14984-0_26

Conference Name

Modeling and Simulation for Autonomous Systems Conference ( 17 - 19 Ekim 2018)

Collections

Department of Mechanical Engineering, Conference / Seminar

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Citation Formats

A. E. Turgut and T. Krajnik, “PФSS: An Open-source Experimental Setup for Continuous Real-world Implementation of Swarm Robotic Systems,” 2018, p. 351, Accessed: 00, 2021. [Online]. Available: https://www.mscoe.org/event/mesas-2018/.