Multiple Autonomous Ground/Air Robot Coordination

• Exploration of AI techniques for implementing incremental learning.• Development of a robot controller for navigation of mobile robot in a

maze like environment.• Testing the effectiveness of the robot controller in simulated and real

environments.

Experimentation:

Theory:• Swarm behavior introduces intelligent capabilities such as adaptation

and self-organization to a multi-robot system.• Essential for generating creativity and innovation in emergent

structures.

Development of Integrated Multi-Aerial and Ground vehicle Experimental Platform

Proposed Equipment:• Skybotix Coax miniature helicopter (x8)• Quanser Q-Ball (x1)• Insight 5600 Vision Sensor (x6)• Dell Workstation w/Xeon Quad Core Processor (x1)• Softwall Enclosure for Platform

Research and Educational Applications of the Platform:• Distributed cooperative control in complex systems, swarm robotics, and network science• Decision making in uncertain and complex environment• Distributed sensing and sensor fusion• Supervisory control of multiple UAVs

Activities:• Assist in procurement of UAV helicopters• Installation of required lab tools and testing

environment• Integration of hardware with various software

interfaces

Preliminary Experimentation

Multi-Robot UAV Testbed:• Existing and new platform will be used to carry out

experimentations• Experiments include formation control and

collective data gathering• Algorithms are tested in simulation• Code transferred via TCP/IP architecture• Player server enables use of sonar, infrared, motor,

and power devices via Wi-Fi• Overhead Cogex Cameras and motion capture

system provide global positioning information to individual units

• Dedicated wireless modem allows for concurrent communication between server and robotic swarm