Occlusion-Based Cooperative Transport With A Swarm of Miniature Mobile Robots Seminar
Occlusion-Based Cooperative Transport With A Swarm of Miniature Mobile Robots Seminar
Occlusion-Based Cooperative Transport With A Swarm of Miniature Mobile Robots Seminar
Occlusion-Based
Cooperative Transport
with a
Swarm of Miniature
Mobile Robots
Guided by,
Presented by,
Overview
Introduction
Occlusion-based cooperative transport
strategy
Mathematical analysis
Advantages
Implementation and results
Conclusion
References
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Introduction
environment
Particularly suited for implementation on micro-
Occlusion-based Cooperative
Transport Strategy
Here, occlusion is used to organize a swarm of
decentralized manner.
The robots use on-board cameras to perceive
Mathematical Analysis
M athem atical m odelling
If normal forces are uniformly applied on the blue section of the convex-shaped
objects perimeter (major arc ab in this diagram), the combined force vector F is the
vector (b a) rotated by 2 and its magnitude is proportional to the length b a
(chord ab in this diagram). Point q is an affecting point of F. c denotes the center of
mass of the object. g denotes the goal.
We
assume that each of the goals and robots are
points.
The combined force is the definite integral given
by
F = p() d.
The solution of the definite integral is
F= ( b - a )
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As
the object is moved, a and b can change over time
Thus the solution of the definite integral is valid at
F(t) =
We can apply a quasi-static analysis and obtain that
c = kF
where c is the derivative of c and k is a positive
constant that transfers F proportionally to the velocity
of the object.
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platform is used.
e-puck robot
Experimental setup
Circular
object
Triangular
object
(c)
Rectangular
object
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A tele operated
goal robot was
used to guide the
pushing robots
(and thus the
object) through a
corridor with
corners.
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Advantage of the
Occlusion-based
Cooperative Transport
Occlusion is used to organize a swarm of
Strategy
robots
Object always arrives at the goal.
Possible
C onclusion
A cooperative transport strategy that uses a
was provided.
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R eference
[1] Jianing Chen, , Melvin Gauci, Wei Li, Andreas Kolling, Roderich Gro,
Occlusion-Based Cooperative Transport with a Swarm of
Miniature Mobile Robots in IEEE TRANSACTIONS ON ROBOTICS,
VOL. 31, NO. 2, APRIL 2015
[2] J. Chen, M. Gauci, and R. Gro, A strategy for transporting tall objects
with a swarm of miniature mobile robots, in Proc. IEEE Int. Conf. Robot.
Autom., 2013, pp. 863869.
[3] C. Kube and E. Bonabeau, Cooperative transport by ants and robots,
Robot. Auton. Syst., vol. 30, no. 12, pp. 85101, 2000
[4] Occlusion-Based Cooperative Transport with a Swarm of Miniature
Mobile Robots-Online Supplementary Materials from
http://naturalrobotics.group.shef.ac.uk/supp/2014-002/
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Thank You
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Questions
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