Route Swarm: Wireless Network Optimization through Mobility

In this paper, we demonstrate a novel hybrid architecture for coordinating networked robots in sensing and information routing applications. The proposed INformation and Sensing driven PhysIcally REconfigurable robotic network (INSPIRE), consists of a Physical Control Plane (PCP) which commands agent position, and an Information Control Plane (ICP) which regulates information flow towards communication/sensing objectives. We describe an instantiation where a mobile robotic network is dynamically reconfigured to ensure high quality routes between static wireless nodes, which act as source/destination pairs for information flow. The ICP commands the robots towards evenly distributed inter-flow allocations, with intra-flow configurations that maximize route quality. The PCP then guides the robots via potential-based control to reconfigure according to ICP commands. This formulation, deemed Route Swarm, decouples information flow and physical control, generating a feedback between routing and sensing needs and robotic configuration. We demonstrate our propositions through simulation under a realistic wireless network regime.Comment: 9 pages, 4 figures, submitted to the IEEE International Conference on Intelligent Robots and Systems (IROS) 201

Development of personal area network (PAN) for mobile robot using bluetooth transceiver

The work presents the concept of providing a Personal Area Network (PAN) for microcontroller based mobile robots using Bluetooth transceiver. With the concept of replacing cable, low cost, low power consumption and communication range between 10m to 100m, Bluetooth is suitable for communication between mobile robots since most mobile robots are powered by batteries and have high mobility. The network aimed to support real-time control of up to two mobile robots from a master mobile robot through communication using Bluetooth transceiver. If a fast network radio link is implemented, a whole new world of possibilities is opened in the research of robotics control and Artificial Intelligence (AI) research works, sending real time image and information. Robots could communicate through obstacles or even through walls. Bluetooth Ad Hoc topology provides a simple communication between devices in close by forming PAN. A system contained of both hardware and software is designed to enable the robots to form a PAN and communicating, sharing information. Three microcontroller based mobile robots are built for this research work. Bluetooth Protocol Stack and mobile robot control architecture is implemented on a single microcontroller chip. The PAN enabled a few mobile robots to communicate with each other to complete a given task. The wireless communication between mobile robots is reliable based from the result of experiments carried out. Thus this is a platform for multi mobile robots system and Ad Hoc networking system. Results from experiments show that microcontroller based mobile robots can easily form a Bluetooth PAN and communicate with each other

A Framework to Describe, Analyze and Generate Interactive Motor Behaviors

International audienceWhile motor interaction between a robot and a human, or between humans, has important implications for society as well as promising applications, little research has been devoted to its investigation. In particular, it is important to understand the different ways two agents can interact and generate suitable interactive behaviors. Towards this end, this paper introduces a framework for the description and implementation of interactive behaviors of two agents performing a joint motor task. A taxonomy of interactive behaviors is introduced, which can classify tasks and cost functions that represent the way each agent interacts. The role of an agent interacting during a motor task can be directly explained from the cost function this agent is minimizing and the task constraints. The novel framework is used to interpret and classify previous works on human-robot motor interaction. Its implementation power is demonstrated by simulating representative interactions of two humans. It also enables us to interpret and explain the role distribution and switching between roles when performing joint motor tasks

Combining stigmergic and flocking behaviors to coordinate swarms of drones performing target search

Due to growing endurance, safety and non-invasivity, small drones can be increasingly experimented in unstructured environments. Their moderate computing power can be assimilated into swarm coordination algorithms, performing tasks in a scalable manner. For this purpose, it is challenging to investigate the use of biologically-inspired mechanisms. In this paper the focus is on the coordination aspects between small drones required to perform target search. We show how this objective can be better achieved by combining stigmergic and flocking behaviors. Stigmergy occurs when a drone senses a potential target, by releasing digital pheromone on its location. Multiple pheromone deposits are aggregated, increasing in intensity, but also diffused, to be propagated to neighborhood, and lastly evaporated, decreasing intensity in time. As a consequence, pheromone intensity creates a spatiotemporal attractive potential field coordinating a swarm of drones to visit a potential target. Flocking occurs when drones are spatially organized into groups, whose members have approximately the same heading, and attempt to remain in range between them, for each group. It is an emergent effect of individual rules based on alignment, separation and cohesion. In this paper, we present a novel and fully decentralized model for target search, and experiment it empirically using a multi-agent simulation platform. The different combination strategies are reviewed, describing their performance on a number of synthetic and real-world scenarios