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Paper ThAP.22

Syafitri, Niken (University of Southampton), Crowder, Richard (University of Southampton), Chappell, Paul H (University of Southampton), Mazlan, Jared Daniel (University of Southampton)

A Self-Assembly Strategy for Swarm Robots

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:45−10:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Swarm Robotics, Self-Organised Robot Systems

Abstract

In nature it is not uncommon for insects to come together to cross an obstacle without prior knowledge of the structure. A number of approaches have been reported where swarm robots are assembled into structures to cross a gap, avoid holes, or climb obstacles by applying a range of self-assembly techniques. In this work we consider a number of related challenges: developing an effective, reliable, algorithm that will allow a swarm of small mobile robots to autonomously construct a structure to cross a gap, without any a-priori knowledge; developing a practical swarm robot that incorporates a low cost coupling mechanism, capable of autonomous construction using the developed algorithm. In the poster we will present the following scenario, a small number of homogenous swarm robots are required to locate a target by traversing a gap that separates two halves of an arena. They have no a-priori knowledge of the gapís location or width. In addition any member of the swarm can autonomously act as the lead robot for the structureís construction. The simulations have clearly demonstrated the robustness of this approach, with swarms of various sizes crossing a range of gap widths. As the model currently does not include a physics engine, the simulation assumes the robots are of minimal weight and the coupling is infinitely stiff. To allow the practical realization of this challenge we are developing a lightweight, compact, locking mechanism that will allow any number of small swarm robots to autonomously form a rigid structure. The mechanism will be able to accommodate the positional and orientation errors that can be presented with low cost differentially steered mobile platform.

 

 

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