The cooperation of Swarm-Bots

The cooperation of Swarm-BotsPhysical Interactions in Collective Robotics (2005)

Francesco Mondada,Luca Maria Gambardella,Dario Floreano,Stefano Nolfi,Jean-Louis Deneubourg,Marco Dorigo

Cognitive RoboticsLude Feldbrugge

Overview

Introduction

S-Bots

Experiments

Results

Discussion

Questions

Introduction

Swarmingbehavior of a school of animals of similar size

and body orientationFish, insects, birds, microorganisms Swarm intelligence/collective robotics

MobilityVersatilityRobustness

ApplicationsSearch & Rescue in complex environmentsExploration

Introduction

SWARM-BOTS Project

Novel approach to the design and implementation of self-organizing and self-assembling artifacts

Creating a Swarm-BotArtifact composed of a number of simpler robots (S-Bots)CheapSelf-assemblySelf-organizationAdaptive to it's environment

S-Bots

Main Features

All-terrain mobility using a treels© drive mechanism (2DOF)Rotation of main body with respect of motion base (1DOF)Rigid arm with Gripper (2DOF)Flexible arm with Gripper (4DOF)50 Sensors

Position & torque for almost every DOFLateral and ground IR proximity sensorsInclinometers/accelerometersHumidity sensorsLight sensorsIR Object sensors within gripperPanoramic cameraMicrophonesetc..

Transparent ring with color LEDsLoudspeakers

S-Bots

So what does all of this look like?

S-Bots

So what does all of this look like?

S-Bots

So what does all of this look like?

S-Bots

So what does all of this look like?

S-Bots

Electronic architecture

Experiments

SimulationHelp the design

Validation of control policies

Swarmbot3DVortex 3D simulation environment

Modular description

Simulation speedFour detail levels

On the fly change of details

Experiments

Experiments

Experiments

Experiments

Total of 35 real s-bots produced

Experiments involved up to 20 s-bots

Goal was to explore the potential impact/feasibility of

swarm-bots

Results

Porting from simulation to the real robot is simple

Passing obstacles of same height possible for swarm-bot

Autonomous self-assembly

Vision for long range information

Proximity sensors for local adjustments

Gripper sensor for secure grasping

Control strategies evolved in simulation

Most experiments semi autonomous

Results

Video DemonstrationPassing a step (tele-operation)

Pulling a child (semi-autonomous)

Discussion

Lots of potentialNo info about algorithms/implementationMost experiments semi-autonomousNew research field, exploratory research

More info and movies on: https://www.swarm-bots.org

Questions

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