Path Following Mobile Robot using Passive RFID Tags in Indoor Environment

A Radio Frequency Identification (RFID) based tracking system becomes very important to our future world of pervasive computing, where information is all around us. Location finding is one of the most needed information for emerging and future applications. RFID tags may provide a new way of giving location information to mobile robot. Because of its small passive communication circuit and without an energy source, RFID tags can be embedded almost anywhere with any object. The Ultra High Frequency (UHF) RFID tags can stores location information which supply to any reader that is within a proximity range which can be up to approximately 15 meters. The robot senses all RFID tags using tags IDs which fall into reader’s recognition area. Then the robot use Received Signal Strength Indicator (RSSI) technique to find the distance of RFID tags which is plotted in the ground. In this paper, we design a path which is build by putting passive RFID tags in serial format on the ground. After plotting all the tags, the mobile robot first tracking and navigating those tags, so that the next robots could follow through the path. In each divider of path breaker we use read/write RFID tags to avoid future problem. The RFID-based path following mobile robot which automatically navigate and moves source to destination accordingly in indoor environments without using directional antenna. DOI: 10.17762/ijritcc2321-8169.15063

Pattern Formation by Robots with Inaccurate Movements

Arbitrary Pattern Formation is a fundamental problem in autonomous mobile robot systems. The problem asks to design a distributed algorithm that moves a team of autonomous, anonymous and identical mobile robots to form any arbitrary pattern F given as input. In this paper, we study the problem for robots whose movements can be inaccurate. Our movement model assumes errors in both direction and extent of the intended movement. Forming the given pattern exactly is not possible in this setting. So we require that the robots must form a configuration which is close to the given pattern F. We call this the Approximate Arbitrary Pattern Formation problem. With no agreement in coordinate system, the problem is unsolvable, even by fully synchronous robots, if the initial configuration 1) has rotational symmetry and there is no robot at the center of rotation or 2) has reflectional symmetry and there is no robot on the reflection axis. From all other initial configurations, we solve the problem by 1) oblivious, silent and semi-synchronous robots and 2) oblivious, asynchronous robots that can communicate using externally visible lights

Circle formation by asynchronous opaque robots on infinite grid

This paper presents a distributed algorithm for circle formation problem under the infinite grid environment by asynchronous mobile opaque robots. Initially all the robots are acquiring distinct positions and they have to form a circle over the grid. Movements of the robots are restricted only along the grid lines. They do not share any global co-ordinate system. Robots are controlled by an asynchronous adversarial scheduler that operates in Look-Compute-Move cycles. The robots are indistinguishable by their nature, do not have any memory of their past configurations and previous actions. We consider the problem under luminous model, where robots communicate via lights, other than that they do not have any external communication system. Our protocol solves the  circle formation problem using seven colors. A subroutine of our algorithm also solves the line formation problem using three colors

Rendezvous on a Known Dynamic Point on a Finite Unoriented Grid

In this paper, we have considered two fully synchronous $\mathcal{OBLOT}$ robots having no agreement on coordinates entering a finite unoriented grid through a door vertex at a corner, one by one. There is a resource that can move around the grid synchronously with the robots until it gets co-located along with at least one robot. Assuming the robots can see and identify the resource, we consider the problem where the robots must meet at the location of this dynamic resource within finite rounds. We name this problem "Rendezvous on a Known Dynamic Point". Here, we have provided an algorithm for the two robots to gather at the location of the dynamic resource. We have also provided a lower bound on time for this problem and showed that with certain assumption on the waiting time of the resource on a single vertex, the algorithm provided is time optimal. We have also shown that it is impossible to solve this problem if the scheduler considered is semi-synchronous

Space and move-optimal Arbitrary Pattern Formation on infinite rectangular grid by Oblivious Robot Swarm

Arbitrary Pattern Formation (APF) is a fundamental coordination problem in swarm robotics. It requires a set of autonomous robots (mobile computing units) to form any arbitrary pattern (given as input) starting from any initial pattern. The APF problem is well-studied in both continuous and discrete settings. This work concerns the discrete version of the problem. A set of robots is placed on the nodes of an infinite rectangular grid graph embedded in a euclidean plane. The movements of the robots are restricted to one of the four neighboring grid nodes from its current position. The robots are autonomous, anonymous, identical, and homogeneous, and operate Look-Compute-Move cycles. Here we have considered the classical $\mathcal{OBLOT}$ robot model, i.e., the robots have no persistent memory and no explicit means of communication. The robots have full unobstructed visibility. This work proposes an algorithm that solves the APF problem in a fully asynchronous scheduler under this setting assuming the initial configuration is asymmetric. The considered performance measures of the algorithm are space and number of moves required for the robots. The algorithm is asymptotically move-optimal. A definition of the space-complexity is presented here. We observe an obvious lower bound $\mathcal{D}$ of the space complexity and show that the proposed algorithm has the space complexity $\mathcal{D}+4$. On comparing with previous related works, we show that this is the first proposed algorithm considering $\mathcal{OBLOT}$ robot model that is asymptotically move-optimal and has the least space complexity which is almost optimal