1. Multi-Robot System Application
Presented by,
P.Saranya

2. Outline Motivation Problem Statement Hardware System Overview
Demonstration Plan
Time Line

3. 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

4. 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

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

6. 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

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

8. 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

9. 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

10. 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

11. Thank You