[gp][2nd seminar][presentation]

Computer and Information Science | Computer Systems Department

2nd Seminar 11/4/2013

Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 12nd Seminar

http://coswarm.wordpress.com/

• Team – Ahmed Mohamed Emad– Abdelrahman Ehab Soliman– Muhammed Aly Huessin– Anas Awad Ismail

• Academic Supervisors – Prof. Hossam El-Din Fahem– Dr. Wael S. El-Kilany– TA. Agwad Hammad

Team Members

Co-Swarm: Cooperative area exploration using a swarm of mobile robotsCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 22nd Seminar



• Frontier-Based Exploration– Single Exploration:

• Motion Planning Module.• Path Executer.• Communication.

– Co-Swarm:• Self-Organizing Models.• Anti-Flocking model.

• Timeline:– Our Status.

Outline


Outline Single Exploration Co-Swarm Timeline References



Motion Planning– Navigate to Frontiers[Area Exploration].

Co-Swarm: Cooperative area exploration using a swarm of mobile robots

Frontier-Based|Motion Planning



Stop

Avoid Obstacles

Rotate

Move

Explore

No Avail. Path

Avail. Path

Find obstacle

New path

New path

Reached way point

New path



Motion Planning– Navigate to Frontiers[Area Exploration]. – Static Environment.– A* Algorithm.







Motion Planning– Navigate to Frontiers[Area Exploration]. – Static Environment .– A* Algorithm







Path Executer– Replace Robo-Car brains with PC’s.– Sending a optimal path to the Robot.– Embedded implementation for path execution.


Frontier-Based|Path Executer





Path Executer– Replace Robo-Car brains with PC’s.– Sending a optimal path to the Robot.– Embedded implementation for path execution.







Path Executer







Communication:– PC-to-PC using Wireless LAN .– Robot-to-PC using Bluetooth.


Frontier-Based|Communication





Swarm Intelligence–Mobility Models of Mobile Sensors:

• Fully Coordinated Control Model.• Fully Random Model• Self-Organizing Models:

– Emergent Motion Control Model– Anti-Flocking Algorithm


Frontier-Based|Co-Swarm





Swarm Intelligence–Mobility Models of Mobile Sensors:

• Fully Coordinated Control Model.• Fully Random Model• Self-Organizing Models:

– Emergent Motion Control Model

–Anti-Flocking Algorithm







Swarm Intelligence–Anti-Flocking [Social Behavior Of Solitary

Animals]• There are some animals that survive

due to different social behaviors called solitary flocking.

• The cooperative behavior can be thought as high-level cooperation based on neighborhood communication








Animals]• AF algorithm is inspired by the

cooperative behavior of solitary animals that results in maximizing search coverage and minimizing overlapping.








Animals]• Collision Avoidance.• De-Centering.• Selfishness.







Timeline ID Task name start finish 11 12 1 2 3 4 5

1 problem characterization 1/11 15/11

2 literature survey on cooperative mapping using multirobot systems

15/11 1/1

3 Testing robo-car capabilities 15/11 15/12

4 Developing a set of simple behaviors to control the motion of

robo-car, obstacle avoidance

25/1 20/2

5 Developing a robo-car framework to work with

20/2 6/3

6 Implementing exploration on one robot

25/2 10/3

7 Developing a fusion technique for combining local maps into global

map

10/3 5/4



April 2013 172nd Seminar


Timeline

ID Task name Start finish

11 12 1 2 3 4 5

8 Studying coordinated mobility model mobility and anti-flocking

model mobility and their effect on the mapping process

10/3 5/4

9 Implementation 15/11 1/5

10 Performance evaluation and refinement

15/4 15/5

11 Final Report 1/12 30/5

12 Presentation and final delivery



April 2013 182nd Seminar


• Frontier-Based Exploration Using Multiple Robots – Brain Yamauchi – 1998.

• A Frontier-Based Approach for Autonomous Exploration – Brain Yamauchi – 1997.

• A comparison of path planning strategies for autonomous exploration and mapping of unknown environments – Miguel Juliá – 2012.

• Novel Mobility Model for Mobile Sensors Deployment in Surveillance Systems – Alaa Khamis – 2011 .

• Probabilistic Robotics – Sebastian Thrun.

• An Introduction to AI Robotics – Robin R. Murphy.

• Embedded Robotics – Thomas Braunl.

• Robocar user Manual.

References





[gp][2nd seminar][presentation]

Technology