Deaf, Dumb, and Chatting Robots, Enabling Distributed Computation and Fault-Tolerance Among Stigmergic Robot

We investigate ways for the exchange of information (explicit communication) among deaf and dumb mobile robots scattered in the plane. We introduce the use of movement-signals (analogously to flight signals and bees waggle) as a mean to transfer messages, enabling the use of distributed algorithms among the robots. We propose one-to-one deterministic movement protocols that implement explicit communication. We first present protocols for synchronous robots. We begin with a very simple coding protocol for two robots. Based on on this protocol, we provide one-to-one communication for any system of n \geq 2 robots equipped with observable IDs that agree on a common direction (sense of direction). We then propose two solutions enabling one-to-one communication among anonymous robots. Since the robots are devoid of observable IDs, both protocols build recognition mechanisms using the (weak) capabilities offered to the robots. The first protocol assumes that the robots agree on a common direction and a common handedness (chirality), while the second protocol assumes chirality only. Next, we show how the movements of robots can provide implicit acknowledgments in asynchronous systems. We use this result to design asynchronous one-to-one communication with two robots only. Finally, we combine this solution with the schemes developed in synchronous settings to fit the general case of asynchronous one-to-one communication among any number of robots. Our protocols enable the use of distributing algorithms based on message exchanges among swarms of Stigmergic robots. Furthermore, they provides robots equipped with means of communication to overcome faults of their communication device

To mesh or not to mesh: flexible wireless indoor communication among mobile robots in industrial environments

Mobile robots such as automated guided vehicles become increasingly important in industry as they can greatly increase efficiency. For their operation such robots must rely on wireless communication, typically realized by connecting them to an existing enterprise network. In this paper we motivate that such an approach is not always economically viable or might result in performance issues. Therefore we propose a flexible and configurable mixed architecture that leverages on mesh capabilities whenever appropriate. Through experiments on a wireless testbed for a variety of scenarios, we analyse the impact of roaming, mobility and traffic separation and demonstrate the potential of our approach

Middleware platform for distributed applications incorporating robots, sensors and the cloud

Cyber-physical systems in the factory of the future will consist of cloud-hosted software governing an agile production process executed by autonomous mobile robots and controlled by analyzing the data from a vast number of sensors. CPSs thus operate on a distributed production floor infrastructure and the set-up continuously changes with each new manufacturing task. In this paper, we present our OSGibased middleware that abstracts the deployment of servicebased CPS software components on the underlying distributed platform comprising robots, actuators, sensors and the cloud. Moreover, our middleware provides specific support to develop components based on artificial neural networks, a technique that recently became very popular for sensor data analytics and robot actuation. We demonstrate a system where a robot takes actions based on the input from sensors in its vicinity

Modular Self-Reconfigurable Robot Systems

The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing fiel