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Computer and Information Science | Computer Systems Department
1st Seminar 28/2/2013
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 11st Seminar
• Team – Ahmed Mohamed Emad– Abdelrahman Ehab Soliman– Muhammed Aly Huessin– Anas Awad Ismail
• Academic Supervisors – Prof. Hossam El-Din Fahem– Dr. Wael S. El-Kilany– TA. Agwad Hammad
Team Members
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 21st Seminar
• Area Exploration Problem:– Problem definition.– Previous Work.
• Cooperative Swarm:– Swarm Robotics – Why Swarm?!– Goal. – Frontier-Based Exploration. – System Architecture.
• Robots Capabilities:– Sensors, Brains, Cameras, … etc.– Tools and Environment.
• Timeline:– Our Status.
Outline Introduction Co-Swarm Timeline References
Outline
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 31st Seminar
Problem Definition “In Robotics, the exploration problem deals with the use
of a robot to maximize the knowledge over a particular area. The exploration problem arises in mapping and search and rescue situations, where an environment might be dangerous or inaccessible to humans ”
Outline Introduction Co-Swarm Timeline References
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 41st Seminar
Introduction|Area Exploration
Problem Overview– The exploration problems appeared when the humans think to use
robots to discover unknown areas that may be dangerous or inaccessible for humans.
– Robot needs a map to operate in a particular environment.
– Autonomous Exploration : The ability of robots to autonomously travel around an unknown environment gathering the necessary information to obtain a useful map for navigation.
– Optimization Problem
Outline Introduction Co-Swarm Timeline References
Introduction|Area Exploration
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 51st Seminar
Previous Work• In absence of global position information, (SLAM) techniques are
deployed to construct a map.• State of the art:
– Classic non-coordinated strategies– Classic coordinated strategies– Integrated non-coordinated strategies – Integrated coordinated strategies
Outline Introduction Co-Swarm Timeline Our Status
Introduction|Area Exploration
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 61st Seminar
Previous Work• In absence of global position information, (SLAM) techniques are
deployed to construct a map.• State of the art:
– Classic non-coordinated strategies– Classic coordinated strategies
• Frontier-Based Exploration using Multiple Robots – Brain Yamuchi 1998
– Integrated non-coordinated strategies – Integrated coordinated strategies
Outline Introduction Co-Swarm Timeline Our Status
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 71st Seminar
Introduction|Area Exploration
What’s Swarm ?!!• New bio-inspired approach to control the coordination of (Multi-
Robot System)MRS, which consists of large numbers of mostly simple physical robots.
• This collective behavior leads to the field of Artificial Swarm Intelligence.
Outline Introduction Co-Swarm Timeline References
Co-Swarm | Swarm Robotics
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 81st Seminar
Why Swarm ?!!• Simple and Elegant.
– Can be represented by State Machine.
• Scalable.• Decentralized.• Usage of local interactions.
Outline Introduction Co-Swarm Timeline References
Co-Swarm | Swarm Robotics
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 91st Seminar
Goal“Speedup the area exploration mission using swarm of Mobile Robots”
Outline Introduction Co-Swarm Timeline References
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 101st Seminar
Co-Swarm | Swarm Robotics
Central Idea • Gain the most new information about the world.• Move to the boundary between open space and uncharted space.
Outline Introduction Co-Swarm Timeline References
Co-Swarm |Frontier-Based Exploration
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 111st Seminar
Evidence Grid• Our Spatial Representation for the Environment.• A Cartesian Grid containing cells and each cell contains its state
whether it is Open , Occupied or unknown.
Frontier Detection• Frontiers are regions on the boundary between open space and
unexplored space.• A process analogous to edge detection and region extraction in
computer vision is used to find the boundaries between open space and unknown space.
Outline Introduction Co-Swarm Timeline References
Co-Swarm |Frontier-Based Exploration
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 121st Seminar
Navigate to Frontiers• The robot attempts to navigate to the nearest accessible
unvisited frontier.• Motion Planning with Obstacle Avoidance.• Path Finding Algorithm A*.
Outline Introduction Co-Swarm Timeline References
Co-Swarm |Frontier-Based Exploration
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 131st Seminar
Outline Introduction Co-Swarm Timeline References
Co-Swarm |Frontier-Based Exploration
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 141st Seminar
Multi-Robot Exploration
Outline Introduction Co-Swarm Timeline References
Co-Swarm |Frontier-Based Exploration
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 151st Seminar
Outline Introduction Co-Swarm Timeline References
Co-Swarm |System Architecture
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 161st Seminar
Outline Introduction Co-Swarm Timeline References
Co-Swarm |System Architecture
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 171st Seminar
Robocars• 4-wheels car:
– with 4 DC motors and encoders
Outline Introduction Co-Swarm Timeline References
Co-Swarm |Capabilities
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 181st Seminar
Microcontroller• ISP flash memory for 128 KB Internal Programming.• 4 KB EEPROM.• 4 KB Internal SRAM.
Outline Introduction Co-Swarm Timeline References
Co-Swarm |Capabilities
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 191st Seminar
Sensors• Position Sensitive Device (PSD)
– Range: 10 cm 80 cm
• Ultrasonic :– Range: 10 cm 10 m
• Infra-red:– For line tracking Applications
Outline Introduction Co-Swarm Timeline References
Co-Swarm |Capabilities
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 201st Seminar
Bluetooth Module• Used in communication to exchange map information
Outline Introduction Co-Swarm Timeline References
Co-Swarm |Capabilities
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 211st Seminar
Camera• Our system will not depend on vision system.• Capturing the surroundings and pass the data to a base
station.– 3D Area reconstruction.
Outline Introduction Co-Swarm Timeline References
Co-Swarm |Capabilities
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 221st Seminar
Brains
Outline Introduction Co-Swarm Timeline References
Co-Swarm |Capabilities
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 231st Seminar
Brains
Outline Introduction Co-Swarm Timeline References
Co-Swarm |Capabilities
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 241st Seminar
• AVR Studio
Outline Introduction Co-Swarm Timeline References
Co-Swarm |Tools and Environment
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 251st Seminar
Outline Introduction Co-Swarm Timeline References
Timeline ID Task name start finish 11 12 1 2 3 4 5
1 problem characterization 1/11 15/11
2 literature survey on cooperative mapping using multirobot systems
15/11 1/1
3 Testing robo-car capabilities 15/11 15/12
4 Developing a set of simple behaviors to control the motion of
robo-car, obstacle avoidance
25/1 20/2
5 Developing a robo-car framework to work with
20/2 6/3
6 Implementing exploration on one robot
25/2 10/3
7 Developing a fusion technique for combining local maps into global
map
10/3 5/4
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 261st Seminar
Outline Introduction Co-Swarm Timeline References
Timeline
ID Task name Start finish
11 12 1 2 3 4 5
8 Studying coordinated mobility model mobility and anti-flocking
model mobility and their effect on the mapping process
10/3 5/4
9 Implementation 15/11 1/5
10 Performance evaluation and refinement
15/4 15/5
11 Final Report 1/12 30/5
12 Presentation and final delivery
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 271st Seminar
Framework • Obstacle detection and Avoidance (1 moving robot)
Outline Introduction Co-Swarm Timeline References
Timeline| Our Status
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 281st Seminar
Framework • Obstacle detection and Avoidance (3 moving robots)
Outline Introduction Co-Swarm Timeline References
Timeline| Our Status
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 291st Seminar
Framework• Robot Motion:– Description – PID Control
Outline Introduction Co-Swarm Timeline References
Timeline| Our Status
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 301st Seminar
Outline Introduction Co-Swarm Timeline References
Timeline| Our Status
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 311st Seminar
D=2*∏*rr= 42 mm
∅=D/RR= 116 mm
VL /(R-L/2) = VR /(R+L/2)L = 24 cm
Outline Introduction Co-Swarm Timeline References
Timeline| Our Status
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 321st Seminar
Framework – Control Theory
• Systems (Velocity) : it is the component which describe what is the system doing now .• System output (Rotations): is the result or the signals which generating from the system .• Sensor(Encoder): it is the feedback system which can sense the output of the system .• Reference(Target Velocity) : it is the target of the system or what we need the system actually
do.• Controller(PWM) : the component which convert the Measured error to control signals.
Framework • Motion Control : PID Control
Outline Introduction Co-Swarm Timeline References
Timeline| Our Status
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 331st Seminar
Framework • Motion Control :
– PID Control effect
Outline Introduction Co-Swarm Timeline References
Timeline| Our Status
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 341st Seminar
Framework • PID Control:
Outline Introduction Co-Swarm Timeline References
Timeline| Our Status
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 351st Seminar
Framework • Communication:
– Sending and receiving data using Bluetooth
Outline Introduction Co-Swarm Timeline References
Timeline| Our Status
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 361st Seminar
Area Exploration• We finished the first phase of Frontier-Based approach
Outline Introduction Co-Swarm Timeline References
Timeline| Our Status
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 371st Seminar
Area Exploration
Outline Introduction Co-Swarm Timeline References
Timeline| Our Status
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 381st Seminar
Stop
Avoid Obstacles
Rotate
Move
Gather Information & Creating Local Grid
Explore
No Avail. Path
Avail. Path
Find obstacle
New pathReached way point
New path
New path
Area Exploration• Now , We are working on the following :-
– Implementation of a mapping technique.– Implementation path planning:
• Data Structure Metric Mapping.• Algorithm A* for static environment .
Outline Introduction Co-Swarm Timeline References
Timeline| Our Status
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 391st Seminar
• Frontier-Based Exploration Using Multiple Robots – Brain Yamauchi – 1998.
• A Frontier-Based Approach for Autonomous Exploration – Brain Yamauchi – 1997.
• A comparison of path planning strategies for autonomous exploration and mapping of unknown environments – Miguel Juliá – 2012.
• Probabilistic Robotics – Sebastian Thrun.
• An Introduction to AI Robotics – Robin R. Murphy.
• Embedded Robotics – Thomas Braunl.
• Robocar user Manual.
Outline Introduction Co-Swarm Timeline References
References
Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 401st Seminar