Swarm Robotics

Indresh Yadav

flexibility and scalability. robustness.Introduction Swarm Robotics studies a particular class of multi-robot system.  It emphasis aspects like decentralization of control.  .

Each single ant acts autonomously following simple rules and locally interacting with the other ants.Inspiration  Inspired by the behavior of social insects.   . A coherent and selforganizing behavior can be observed at the colony level.

The Swarm-Bot  An s-bot is a small mobile autonomous robot with selfassembling capabilities. The traction system is composed of both tracks and wheels. It weighs 700 g and its main body has a diameter of about 12 cm.   .

 Cylindrical turret mounted on the chassis by means of a motorized joint.   . Gripper used for connecting to S-Bots and objects. The gripper is mounted on Turret as some freedom for lifting object.

two humidity sensor & 3axis accelometer. microphone. LED. torque and traction sensor. loudspeaker. Each robot is also equipped with sensors and devices to detect and communicate with each other. Four proximity sensors placed under the chassis (ground sensors).    . Eight light sensors uniformly distributed around the turret . Consists of camera.

It means their oscillations are in phase with each other.Synchronization  The task requires that each s-bot in the group displays a simple periodic behavior. sbots produce a continuous tone with fixed frequency and intensity.   . In order to communicate with each other.

One sensory neuron is used for perception of sound. It is perceived by every robot in arena. The tone is perceived in a binary way.   .

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.Co-ordinated Motion  It is a basic ability due to physical interaction among s-bots.

corresponding to the direction of the semiaxes of the chassis¶ frame.   . 2 motor neurons control wheels and turret chassis motor. 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.

 .Hole avoidance  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.

microphones and speakers are also used. In DC and EC.  . 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.

Advantages  Fault tolerance De-centralized approach Flexibility Robustness    .

Interaction among components. Encoding of robots.Limitation  Self organizing behavior. Interaction between individual robot.    .

Application  Plume tracing Obstacle avoidance Search and rescue Surveillance/coverage Convoy formation Move towards goal by avoiding hurdles      .

Thank You!! .