The cooperation of Swarm-Bots
Transcript of The cooperation of Swarm-Bots
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The cooperation of Swarm-BotsPhysical Interactions in Collective Robotics (2005)
Francesco Mondada,Luca Maria Gambardella,Dario Floreano,Stefano Nolfi,Jean-Louis Deneubourg,Marco Dorigo
Cognitive RoboticsLude Feldbrugge
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Overview
Introduction
S-Bots
Experiments
Results
Discussion
Questions
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Introduction
Swarmingbehavior of a school of animals of similar size
and body orientationFish, insects, birds, microorganisms Swarm intelligence/collective robotics
MobilityVersatilityRobustness
ApplicationsSearch & Rescue in complex environmentsExploration
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Introduction
SWARM-BOTS Project
Novel approach to the design and implementation of self-organizing and self-assembling artifacts
Creating a Swarm-BotArtifact composed of a number of simpler robots (S-Bots)CheapSelf-assemblySelf-organizationAdaptive to it's environment
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S-Bots
Main Features
All-terrain mobility using a treels© drive mechanism (2DOF)Rotation of main body with respect of motion base (1DOF)Rigid arm with Gripper (2DOF)Flexible arm with Gripper (4DOF)50 Sensors
Position & torque for almost every DOFLateral and ground IR proximity sensorsInclinometers/accelerometersHumidity sensorsLight sensorsIR Object sensors within gripperPanoramic cameraMicrophonesetc..
Transparent ring with color LEDsLoudspeakers
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S-Bots
So what does all of this look like?
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S-Bots
So what does all of this look like?
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S-Bots
So what does all of this look like?
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S-Bots
So what does all of this look like?
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S-Bots
Electronic architecture
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Experiments
SimulationHelp the design
Validation of control policies
Swarmbot3DVortex 3D simulation environment
Modular description
Simulation speedFour detail levels
On the fly change of details
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Experiments
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Experiments
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Experiments
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Experiments
Total of 35 real s-bots produced
Experiments involved up to 20 s-bots
Goal was to explore the potential impact/feasibility of
swarm-bots
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Results
Porting from simulation to the real robot is simple
Passing obstacles of same height possible for swarm-bot
Autonomous self-assembly
Vision for long range information
Proximity sensors for local adjustments
Gripper sensor for secure grasping
Control strategies evolved in simulation
Most experiments semi autonomous
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Results
Video DemonstrationPassing a step (tele-operation)
Pulling a child (semi-autonomous)
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Discussion
Lots of potentialNo info about algorithms/implementationMost experiments semi-autonomousNew research field, exploratory research
More info and movies on: https://www.swarm-bots.org
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Questions
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