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Published byHillary Hancock Modified over 8 years ago
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Physics Based Formation Behavior in Autonomous Robots Mark Patterson
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Emergent Behavior Emergent or global behavior is observed in the interactions between homogeneous robots. Autonomy / Independence – Local decision procedures Social based and hierarchal based behavior Physics based behavior –Provides theoretical guarantees about behavior.
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Formation Behavior Robots will naturally form into structures using a force vector. –Four structures of interest DiamondWedgeLineColumn
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Formation Behavior Formations within a volume –Even distribution regardless of the number of robots.
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Practical Applications of Formation Behavior Distributed Arrays / Matrices –Investigation –Search –Exploration –Surveillance –Defense
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System Development Design, fabricate, and implement fleet of inexpensive autonomous mobile robots –Localization / Where am I? Detecting the presence of other robots –Communication Knowledge of environment –Sensors
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–Error control IR Protocol –8 bit data/32 bit signal RF Protocol –8 bit data/8 bit signal –Stop and wait ARQ Asynchronous Serial Communication –Implementations - Pulse Code Modulation (PCM) Infrared –Transmitter and receiver “on board” the controller module. Radio frequency - 300 Mhz –Inexpensive garage door transmitters and receivers. Communication
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Localization Force vector –Range –Bearing Beacon system –Trilateration Position relative to at least two other objects –Distance between each of three objects a b c (0,0)
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Ultrasonic transducer beacons Inexpensive Omni-directional Effective range – approx. 1 meter Reflexive response response time + (2)(time of flight) (0,0)
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Prototype Lego ™ robot
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Current & future work Finish development of ultrasonic transducer beacons. Implement localization algorithm Demonstrate and record physics based formation behavior. Validate the behavior using formal methods.
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