Swarm Robotics Platform Research Articles

OptiSwarm: Optical Swarm Robots Using Implicit Cooperation

Swarm robots have always served as verification platforms and deployment tools for swarming models that usually take relative distances, bearing angles, velocity directions, or differentiation of neighbors as inputs to regulate individual motion. With natural decentralization and high scalability, existing swarm robotic platforms based on purely implicit cooperation exhibit excellent potential for evaluating and deploying swarming models in denied environments. However, most of the current implicit cooperation platforms are limited in their adaptability because they are hardly capable of providing the above four inputs without external assistance. To address this problem, this article presents optiSwarm, a swarm robotic platform, where each robot (Cubot) within this platform is based on a novel implicit cooperation system. Cubot can not only directly obtain relative distances, bearing angles, and differentiation of adjacent robots through vision-based local rules but also has a relative velocity direction perception mechanism purely on implicit communication. The robot’s perception is proven to be reliable through real-world tests. Through implementing three collective behaviors guided by diverse inputs, optiSwarm is employed and evaluated in typical scenarios demonstrating that it is capable of verifying models of collective behaviors.

Relative localization of swarm robotics based on the polar method

This article proposed a simple and efficient method for relative localization of swarm robotics. Firstly, the relative localization module of the micro-robot is designed to be composed of a compass and several pairs of infrared transceiver sensors evenly arranged on the edge of the robot. Based on the existing relative localization method and combined with the relative localization module, an improved relative localization method for swarm robots named as polar method is proposed, which includes distance calculation, relative direction calculation, and coordinates conversion. After that, a set of localization rules is designed to apply this method to the swarm system, which mainly include establishment of reference coordinate system, localization of the adjacent layer of the seed robot, and localization between layers, so that the initial coordinates of all robots can be obtained directly with only one seed robot. Then we described the implementation process of dynamic localization of swarm robots based on the initial static localization in the edge detour motion mode. Finally, the feasibility and flexibility of this localization method are verified by experiments on the swarm robotic platform, and the localization method is applied to realize the shape formation of swarm robots.

A study using the low-cost swarm robotics platform spiderino in education

The demand on STEM (Science, Technology, Engineering, and Mathematics)-educated and enthusiastic employees is growing continuously. It is well known that the challenge to motivate students for a technical study needs to be taken already during compulsory schooling. Hands-on robotic experiments, referring to a topic that is well-known and connected to many future technology concepts, are one possibility to increase the attractiveness of technological applications. Many platforms have already been developed and used in education, including humanoid robots (e.g., the NAO robot), swarm robotic platforms (e.g., the e-Puck or the Spiderino) and the LEGO Mindstorm series. The Spiderino robot, being an autonomous robot build upon a toy robot platform, offers an excellent possibility, also in fusing different types of technological domains: 3D printing, robotics, programming, sensors, actuators and swarm intelligence — highly important topics packaged in a toy-like platform.In this work we study the effect of using the Spiderino swarm robotic platform in education. In particular, we applied this platform in a classroom workshop format. We evaluate if this workshop positively influences students on a personal level and increase their interest in STEM subjects, specifically computer science. Therefore, we propose an approach to measure such effects by conducting a quantitative student and a qualitative teacher questionnaire. For that matter, 5 practical workshops, 4 h each, have been done with 69 students, 14 to 18 years old. The results show a remarkable acceptance of using swarm robotic platforms as an effective educational tool: Easy-to-use, entertaining, and increasing motivation to solve tasks have been observed during the interaction between the students and the robot.

Swarm robotics platform for intelligent interaction

Background This paper introduces a versatile edutainment platform based on a swarm robotics system that can support multiple interaction methods. We aim to create a re-usable open-ended tangible tool for a variety of educational and entertainment scenarios by utilizing the unique advantages of swarm robots such as flexible mobility, mutual perception, and free control of robot number. Methods Compared with the tangible user interface, the swarm user interface (SUI) possesses more flexible locomotion and more controllable widgets. However, research on SUI is still limited to system construction, and the upper interaction modes along with vivid applications have not been sufficiently studied. Results This study illustrates possible interaction modes for swarm robotics and feasible application scenarios based on these fundamental interaction modes. We also discuss the implementation of swarm robotics (including software and hardware), then design several simple experiments to verify the location accuracy of the swarm robotics system.

Modular self-assembling and self-reconfiguring e-pucks

In this paper, we present the design of a new structural extension for the e-puck mobile robot. The extension may be used to transform what is traditionally a swarm robotics platform into a self-reconfigurable modular robotic system. We introduce a modified version of a previously developed collective locomotion algorithm and present new experimental results across three different themes. We begin by investigating how the performance of the collective locomotion algorithm is affected by the size and shape of the robotic structures involved, examining structures containing up to nine modules. Without alteration to the underlying algorithm, we then analyse the implicit self-assembling and self-reconfiguring capabilities of the system and show that the novel use of ‘virtual sensors’ can significantly improve performance. Finally, by examining a form of environment driven self-reconfiguration, we observe the behaviour of the system in a more complex environment. We conclude that the modular e-puck extension represents a viable platform for investigating collective locomotion, self-assembly and self-reconfiguration.

Development of IR-Based Short-Range Communication Techniques for Swarm Robot Applications

This paper proposes several designs for a reliable infra-red based communication techniques for swarm robotic applications. The communication system was deployed on an autonomous miniature mobile robot (AMiR), a swarm robotic platform developed earlier. In swarm applications, all participating robots must be able to communicate and share data. Hence a suitable communication medium and a reliable technique are required. This work uses infrared radiation for transmission of swarm robots messages. Infrared transmission methods such as amplitude and frequency modulations will be presented along with experimental results. Finally the effects of the modulation techniques and other parameters on collective behavior of swarm robots will be analyzed.