1. Physics Based Formation Behavior in Autonomous Robots Mark Patterson

2. 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.

3. Formation Behavior Robots will naturally form into structures using a force vector. –Four structures of interest DiamondWedgeLineColumn

4. Formation Behavior Formations within a volume –Even distribution regardless of the number of robots.

5. Practical Applications of Formation Behavior Distributed Arrays / Matrices –Investigation –Search –Exploration –Surveillance –Defense

6. 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

7. –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

8. 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)

9. Ultrasonic transducer beacons Inexpensive Omni-directional Effective range – approx. 1 meter Reflexive response response time + (2)(time of flight) (0,0)

10. Prototype Lego ™ robot

11. 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.