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www.guardians-project.eu
Non-communicative robot swarming in the GUARDIANS project
J. Sàez-Pons
Lyuba Alboul
Veysel Gazi
Jacques Penders
8 January, RISE 08
www.guardians-project.eu
Contents
• Non-communicative robot swarming• Potential functions method• Simulation results• Conclusions• Future work
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Non-communicative robot swarming
• Robot formation and keeping
• No communication robot-robot
• No communication robot-human
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Method
• Social potential functions [Reif and Wang 99]
Each robot Ri calculates a Force Fi, which is the generator of the new velocity vector of the robot
• Assumptions:
Each robot can distinguish between obstacles, humans and other robots
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Robot-robot potential function
Where position vector,
euclidean norm, and
is the vector from robot i to j
ij
robot-robot potential function
0.0
1.0
2.0
3.0
4.0
5.0
6.0
0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0
rij
Frr
(rij
)
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Robot-obstacle potential function
i
p
Where position vector,
euclidean norm, and
is the vector from robot i to p
robot-point potential function
0.0
1.0
2.0
3.0
4.0
5.0
6.0
0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0
rij
Urp
(rij
)
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Artificial potential function (APF)
ij
p
hRobot-Human
Robot-Robot
Robot-Obstacle
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Simulation results
-Video
- Player software (robot device interface)- Stage (2D multiple robot simulator)- Erratic model equipped with Hokuyo laser rangefinder
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Conclusions
• Formation generation around the fire fighter with no communication between team components
• Potential field method suitability
• Robot-human team navigation
• Swarm obstacle avoidance
• Flexibility– Number of robots
– Robust to failures of individual robots
• Problems using APF– Local minima
– Overwhelmed situations
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