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

Show full item record

Item Usage Stats

187
views

0
downloads

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

Suggestions

OpenMETU
Core

P Phi SS: An Open-Source Experimental Setup for Real-World Implementation of Swarm Robotic Systems in Long-Term Scenarios Arvin, Farshad; Krajnik, Tomas; Turgut, Ali Emre (2019-01-01) 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 realworld 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-hardwa...
Perpetual Robot Swarm: Long-Term Autonomy of Mobile Robots Using On-the-fly Inductive Charging Arvin, Farshad; Watson, Simon; Turgut, Ali Emre; Espinosa, Jose; Krajnik, Tomas; Lennox, Barry (2018-12-01) Swarm robotics studies the intelligent collective behaviour emerging from long-term interactions of large number of simple robots. However, maintaining a large number of robots operational for long time periods requires significant battery capacity, which is an issue for small robots. Therefore, re-charging systems such as automated battery-swapping stations have been implemented. These systems require that the robots interrupt, albeit shortly, their activity, which influences the swarm behaviour. In this p...
Design of a low-costs warm robotic system for flocking Demir, Çağrı Ata; Turgut, Ali Emre; Department of Mechanical Engineering (2019) Swarm robotics is an approach to the coordination of large numbers of robots. The main motivation of this thesis is to study a robotic system designed to do flocking both indoors and outdoors. A walking robot is designed parallel to this purpose. In the first part of thesis, a leg is designed to minimize the displacement of center of mass of robot in vertical axis to eliminate mechanical noise. Mechanism analysis and Matlab optimization tools are utilized in this process. Then, electronic components of robo...
GESwarm Grammatical Evolution for the Automatic Synthesis of Collective Behaviors in Swarm Robotics Ferrante, Eliseo; Turgut, Ali Emre; DuenezGuzman, Edgar; Wenseleers, Tom (2013-07-10) In this paper we propose GESwarm, a novel tool that can automatically synthesize collective behaviors for swarms of autonomous robots through evolutionary robotics. Evolutionary robotics typically relies on artificial evolution for tuning the weights of an artificial neural network that is then used as individual behavior representation. The main caveat of neural networks is that they are very difficult to reverse engineer, meaning that once a suitable solution is found, it is very difficult to analyze, to ...
PROWELD: an off-line welding robot programming package with an interactive graphical interface Balkan, T; Arıkan, Mehmet Ali Sahir; Bulut, M (1997-01-01) A PC-based interactive software package for low-level programmers is developed the for off-line programming of robots for welding, and is evaluated for are welding using a six-degree of freedom industrial robot. The package is also capable of simulating the process graphically. Weld trajectories are either determined by making use of user input three-dimensional weld seam drawings, or can be extracted from three-dimensional workpiece drawings. A module is developed for easy weld seam input, which also makes...

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/.