1. Jamis Martin Trenton Andres Jay Zifer Brad Nowak

2. Project Overview  The goal of the project is to develop a team of robots that will utilize swarm behavior to accomplish tasks  The robots will communicate through an ad-hoc RF network, IR LEDs and sensors  Bots will be initialized by a non-moving control unit

3. Software Overview  Microcontroller Interfaces Sensors via ATD RF module via SPI  Flag-Driven design Main loop handles packet decoding, sensor polling, decides direction to move, transmission Flags for these are set by interrupt routine upon reception  Data decoding and turning algorithms depend upon what program the bots are running  Embedded C

4. Sensors  6 IR sensors, one on each side  6 IR LEDs, one on each side  2 Ambient light sensors

5. Main Loop Record Sensor Data Decode Packet Data Determine Movement Direction Transmit If New Packet If next to transmit

6. Transmission  Bot will send relevant data depending on the program being executed.  Ex. Light Search: ID, Light strength, Bots in range who found light, how long ago that light was found, etc.  Bot will turn on IR LEDs Others can see where it is It can see reflections and know where obstacles are  Signal next in queue to transmit

7. Reception  Handled upon receiving interrupt from RF module  Bots will unload data and decode it during the main loop

8. Ad-Hoc Network  Control unit will assign initial IDs based off who responds to it first  Bots will be added or dropped at end of transmission cycle.  Bots out of range will be dropped  Bots lacking ID in range will be acquired

9. Dropping  If the bot does not receive any new packets after a set number of cycles, that bot will drop from network and lose ID.  If a bot is transmitting and does not receive any new packet after a set number of cycles, it will send a signal to decrement IDs and remove missing bot from network

10. Adding  At end of each round robin, transmitter will ask if there are any bots lacking IDs in range of it’s transmission.  Upon response, the signal will be put out to give the bot a new ID and update other bots tables so they know the swarm has grown.

11. Summary  Flag-Driven software design in embedded C  Main loop handles packet decoding, direction, transmission, sensor polling  Interrupts from RF module upon receiving packets  Ad-hoc network will dynamically add and remove bots  RF packet data and decoding will change depending on mode

12. Questions? ?