Physics Based Formation Behavior in Autonomous Robots
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Transcript of Physics Based Formation Behavior in Autonomous Robots
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.
Formation Behavior
• Robots will naturally form into structures using a force vector.– Four structures of interest
Diamond Wedge Line Column
Formation Behavior• Formations within a volume
– Even distribution regardless of the number of robots.
Practical Applications of Formation Behavior
• Distributed Arrays / Matrices–Investigation
–Search
–Exploration
–Surveillance
–Defense
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
– Error control• IR Protocol
– 8 bit data/32 bit signal
• RF Protocol– 8 bit data/8 bit signal
– Stop and wait ARQ
• 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.
Communication
Localization
• Force vector– Range– Bearing
• Beacon system– Trilateration
• Position relative to at least two other objects– Distance between each of three objects
a
b
c
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Ultrasonic transducer beacons
• Inexpensive
• Omni-directional
• Effective range – approx. 1 meter
• Reflexive response• response time + (2)(time of flight)
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