The cooperation of Swarm-BotsPhysical Interactions in Collective Robotics (2005)
Francesco Mondada,Luca Maria Gambardella,Dario Floreano,Stefano Nolfi,Jean-Louis Deneubourg,Marco Dorigo
Cognitive RoboticsLude Feldbrugge
Overview
Introduction
S-Bots
Experiments
Results
Discussion
Questions
Introduction
Swarmingbehavior of a school of animals of similar size
and body orientationFish, insects, birds, microorganisms Swarm intelligence/collective robotics
MobilityVersatilityRobustness
ApplicationsSearch & Rescue in complex environmentsExploration
Introduction
SWARM-BOTS Project
Novel approach to the design and implementation of self-organizing and self-assembling artifacts
Creating a Swarm-BotArtifact composed of a number of simpler robots (S-Bots)CheapSelf-assemblySelf-organizationAdaptive to it's environment
S-Bots
Main Features
All-terrain mobility using a treels© drive mechanism (2DOF)Rotation of main body with respect of motion base (1DOF)Rigid arm with Gripper (2DOF)Flexible arm with Gripper (4DOF)50 Sensors
Position & torque for almost every DOFLateral and ground IR proximity sensorsInclinometers/accelerometersHumidity sensorsLight sensorsIR Object sensors within gripperPanoramic cameraMicrophonesetc..
Transparent ring with color LEDsLoudspeakers
S-Bots
So what does all of this look like?
S-Bots
So what does all of this look like?
S-Bots
So what does all of this look like?
S-Bots
So what does all of this look like?
S-Bots
Electronic architecture
Experiments
SimulationHelp the design
Validation of control policies
Swarmbot3DVortex 3D simulation environment
Modular description
Simulation speedFour detail levels
On the fly change of details
Experiments
Experiments
Experiments
Experiments
Total of 35 real s-bots produced
Experiments involved up to 20 s-bots
Goal was to explore the potential impact/feasibility of
swarm-bots
Results
Porting from simulation to the real robot is simple
Passing obstacles of same height possible for swarm-bot
Autonomous self-assembly
Vision for long range information
Proximity sensors for local adjustments
Gripper sensor for secure grasping
Control strategies evolved in simulation
Most experiments semi autonomous
Results
Video DemonstrationPassing a step (tele-operation)
Pulling a child (semi-autonomous)
Discussion
Lots of potentialNo info about algorithms/implementationMost experiments semi-autonomousNew research field, exploratory research
More info and movies on: https://www.swarm-bots.org
Questions
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