Multi-Robot System Application Presented by, P.Saranya

Outline Motivation Problem Statement Hardware System Overview Demonstration Plan Time Line

Motivation Robotics =>Embedded Systems => FUTURE Robotics Application Areas Multi Robot Systems: Provide redundancy and contribute cooperatively to solve the assigned tasks More reliable, faster, or cheaper way beyond what is possible with single robots Present work Individual robots Team of robots doing manual work on factory assembly lines follow a script can't learn to adapt to new situations

Problem Statement To develop a system of robots that can cooperate among themselves to allocate and accomplish different tasks. Main focus task searching planning resource allocation Scheduling Underlying Robotic aspects Localization Mapping

Hardware KheperaIII Robots iRobots Roomba Scooba Create Capable of vaccum cleaning Scooba Capable of mopping Create Programmable, flexible, customized

Capabilities of Robots Name Programmable Sensors Communication KhepaeraIII Yes 9 IRs, 5 sonars, 2 ground IRs Bluetooth, Wifi, Serial using UART/USB Roomba 5 for obstacle detection, 2 for angle and distance moved, 2 for dirt detection Bluetooth *Create 5 for obstacle detection, 2 for angle and distance moved *Scooba No Info not available

System Overview Operating System Resource Allocation Scheduling Applications Resources Multi Robot System Task Searching/Sensing Planning Allocation Scheduling Tasks Robots

Central Idea Visualize Multi-Robot System as an Operating System Main Robot  Operating System Other Robots  Resources Tasks  Application/Job Tasks of Main robot: Search/locate tasks in the environment Plan task completion Allocate and schedule robots

System Architecture Job Completion Mapping Localization Obstacle detection and avoidance Behavioral Architecture for other robots Behavioral Architecture for Main Server Job Completion Localization Obstacle detection and avoidance Communication

Gantt Chart 15-29 Sept 30 Sept – 12 Oct 20 – 27 Oct 27 Oct – 10 Nov Building world and robot models Testing of system using simulation Localisation and mapping on actual hardware Communication system development

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