senior project - nattee · 2018-06-05 · reference james f. a. traniello, “foraging strategies...
TRANSCRIPT
Senior Project
Swarm Collective Behavior
for
Searching ObjectsBy:
● Tapana Voravoothiwat ID:5131009321
Project Mentors:
● Asst.Prof. Dr.Attawith Sudsang
● Dr.Nattee Niparnan
Introduction
● Search problem in robotic field example● @home robot● Rescue● Humanoid soccer
Introduction
● Single Robot vs. Multiple Robots System ● Faster with parallel search
Introduction
● Multiple robots control method ● Centralized● Distributed
Introduction
● Lots of Robot + Distributed Controls + Simple Collective Behavior = SWARM
Project Objective
● Create behavior programe for each robot in system● Find and bring objects back to base● Multiple robot system
Why Swarm?
● Simple & Reliable● New technology : single chip robot
Why Swarm?
● Simple & Reliable● No complex components in hardware and software :
not likely to break down● High redundancy : every robots is replaceable
Why Swarm?
● New technology : single chip robot● Cheap & Mass production● But limited function
Related Works
● 3 examples● 1 swarm robot design concept● 2 distributed search algorithm
Related Works
● Kilobot
Related Works
● “Toward Finding an Universal Search Algorithm for Swarm Robot” : pattern search + set of rules
Related Theories
● Ant colony algorithm (Foraging)
Related Works
● Two Foraging Algorithms for Robot Swarms Using Only Local Communication : virtual pheromone
Goals & Boundaries
● Behavior based algorithm for each swarm robot in system to solve searches and collects objects in unknown space problem
● Implement in simulator only● Work on Ubuntu Linux only
Evaluation & Factors
● Successful rate : numbers of found objects● Time spent● Numbers of robot / search area● Complexity of obstacle
Project Plan
● Research on robot design and assumption ~2 weeks● Implement basic functions of robot in simulator (eg.
locomotion, input sensors, comunication) ~2 weeks
● Research on collective behaviors ~3 weeks● Implement and Testing ~2 weeks● Factors Tuning and Improvement ~1 weeks● Documentation ~2 weeks
Reference
● James F. A. Traniello, “Foraging Strategies of Ants”, Annual Review of Entomology, Vol. 34: 191210,Volume publication date January 1989
● M. Rubenstein, N. Hoff, R. Nagpal, “Kilobot: A Low Cost Scalable Robot System for Collective Behaviors”, IEEE Spectrum: robotics, June 16, 2011
● D. J. Pack, B. E. Mullins, ”Toward Finding an Universal Search Algorithm for Swarm Robot” IEEE international Conference on Intelligent Robots and System Las Vegas, Nevada October 2003
● N.R. Ho, A. Sago, R.J. Wood, and R. Nagpal. “Two foraging algorithms for robot swarms using only local communication.” Awaiting publication
Ending
Q&A