20 research outputs found
Deaf, Dumb, and Chatting Robots, Enabling Distributed Computation and Fault-Tolerance Among Stigmergic Robot
Get PDFWe 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
An analysis of navigation algorithms for smartphones using J2ME
Get PDFEmbedded systems are considered one of the most potentialareas for future innovations. Two embedded fields that will mostcertainly take a primary role in future innovations are mobile roboticsand mobile computing. Mobile robots and smartphones are growing innumber and functionalities, becoming a presence in our daily life. In thispaper, we study the current feasibility of a smartphone to execute navigationalgorithms. As a test case, we use a smartphone to control anautonomous mobile robot. We tested three navigation problems: Mapping,Localization and Path Planning. For each of these problems, analgorithm has been chosen, developed in J2ME, and tested on the field.Results show the current mobile Java capacity for executing computationallydemanding algorithms and reveal the real possibility of usingsmartphones for autonomous navigation
