UB Robot Swarm – Design, Implementation, and Power Management
Madhav Patil
Tamer Abukhalil
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Abstract
The user has requested enhancement of the downloaded file. All in-text references underlined in blue are added to the original document and are linked to publications on ResearchGate, letting you access and read them immediately. UB Robot Swarm – Design, Implementation, and Power Management Abstract— In this paper we describe the hardware architecture of an inexpensive, heterogeneous robot swarm, designed and developed at the RISC lab, University of Bridgeport. Each swarm robot is equipped with sensors, actuators, control and communication units, power supply, and interconnection mechanism. This article also describes the essential features and design of a power distribution and management system for a dynamically reconfigurable system. It further presents the empirical results of the proposed power management system collected with the real robotic applications.
Related papers
UB Swarm : Hardware Implementation of Heterogeneous Swarm Robot with Fault Detection and Power Management
In this work we present the hardware architecture of a mobile heterogeneous robot swarm, designed and implemented at the Interdisciplinary Robotics, Intelligent Sensing and Control (RISC) Laboratory, University of Bridgeport. Most of the recent advances in swarm robotics have mainly focused on homogeneous robot swarms and their applications. Developing and coordinating a multi-agent robot system with heterogeneity and a larger behavioral repertoire is a great challenge. To give swarm hardware heterogeneity we have equipped each swarm robot with different set of sensors, actuators, control and communication units, power supply, and an interconnection mechanism. This paper discusses the hardware heterogeneity of the robotic swarm and its challenges. Another issue addressed in paper is the active power management of the robotic agents. The power consumption of each robot in the UB robot swarm is calculated and the power management technique is also explained in this paper. We applied this heterogeneous robot swarm to perform three sample tasks – Mapping task, human rescue task and wall painting task. Copyright © Research Institute for Intelligent Computer Systems, 2015. All rights reserved.
Design and Development of Swarm-Robots
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International Journal of Electrical and Computer Engineering (IJECE), 2020
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Related papers
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Deploying large numbers of mobile robots which can interact with each other produces swarm intelligent behavior. However, mobile robots are normally running with finite energy resource, supplied from finite battery. The limitation of energy resource required human intervention for recharging the batteries. The sharing information among the mobile robots would be one of the potentials to overcome the limitation on previously recharging system. A new approach is proposed based on integrated intelligent system inspired by foraging of honeybees applied to multimobile robot scenario. This integrated approach caters for both working and foraging stages for known/unknown power station locations. Swarm mobile robot inspired by honeybee is simulated to explore and identify the power station for battery recharging. The mobile robots will share the location information of the power station with each other. The result showed that mobile robots consume less energy and less time when they are coo...
Overview of Swarm Robotics
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The swarm robotics inspired from nature is a combination of swarm intelligence and robotics, which shows a great potential in several aspects. It is important to study swarm robotics system because it has desirable properties unlikely to be found in other systems, for example they scale very well; there is no single point of failure, making swarm systems very robust and well suited in operating in safety critical situations. As research progresses in robot system, more and more aspects are explored in multi robot system. This paper describes advances in multi robot system and discusses the current state of art. The focus is principally on the research that has been demonstrated in various entity projects.
Libot: Design of a low cost mobile robot for outdoor swarm robotics
2012 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2012
ARTICLE INFO Smart systems give rise to smart environments. Concepts of Artificial Intelligence and Internet of Things make such smart systems more efficient and bring in the idea of automation. In this paper, an attempt to create such a system has been made. The system focuses on an improved version of the Self Organizing Map Approach with which multi-robots communicate with each other to achieve a specific goal. In the proposed system, the work-load which needs to be dealt with is received on the loading bay. The system stays offline when there is no load and becomes active when load arrives. Server stores the load weight in its database and assigns robots to carry out the task of moving the load. Number of robots needed to move the load is then stored into the corresponding weight file so that future work-load can be assigned the required number of robots directly without single persuasion. All the entities of the system are connected together in a network thus making the system conform to the concept of Internet of Things. The system will gradually learn from previous experiences and act accordingly, thus bringing the concept of Artificial Intelligence and hence, automation.
Exploring Energy Charging Problem in Swarm Robotic Systems Using Foraging Simulation
Jurnal Teknologi, 2015
Swarm robotic systems is still a new field of study, and exploration of its applications and making use of its advantages can open the door for more research on this field in the near future. In swarm robotic systems, a number of simple robots can perform complex tasks efficiently than a single robot, giving robustness and flexibility to the group. However, robustness is one of the issues that need to be resolved as most of time the robots are suffering from low energy while performing the task. The main objectives of this paper are to highlight the robustness issue in swarm robotic systems and propose a solution to allow swarm robots to remain robust on achieving its task. To demonstrate the problem, foraging algorithm, which is inspired by ant’s behaviour, is simulated to highlight the problem of low energy in swarm robotic system and its effect on its robustness. One of the solutions is mainly by using power stations or banks, but both have its own limitation which are highlighte...
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