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[Gp][1st seminar][presentation]

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[Gp][1st seminar][presentation]

  1. 1. Computer and Information Science | Computer Systems Department1st Seminar 28/2/2013Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 11st Seminar
  2. 2. • 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 HammadTeam MembersCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 21st Seminar
  3. 3. • Area Exploration Problem:– Problem definition.– Previous Work.• Cooperative Swarm:– Swarm Robotics– Why Swarm?!– Goal.– Frontier-Based Exploration.– System Architecture.• Robots Capabilities:– Sensors, Brains, Cameras, … etc.– Tools and Environment.• Timeline:– Our Status.Outline Introduction Co-Swarm Timeline ReferencesOutlineCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 31st Seminar
  4. 4. Problem Definition“In Robotics, the exploration problem deals with the useof a robot to maximize the knowledge over aparticular area. The exploration problem arises inmapping and search and rescue situations, where anenvironment might be dangerous or inaccessible tohumans ”Outline Introduction Co-Swarm Timeline ReferencesCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 41st SeminarIntroduction|Area Exploration
  5. 5. Problem Overview– The exploration problems appeared when the humans think to userobots to discover unknown areas that may be dangerous orinaccessible for humans.– Robot needs a map to operate in a particular environment.– Autonomous Exploration : The ability of robots to autonomouslytravel around an unknown environment gathering the necessaryinformation to obtain a useful map for navigation.– Optimization ProblemOutline Introduction Co-Swarm Timeline ReferencesIntroduction|Area ExplorationCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 51st Seminar
  6. 6. Previous Work• In absence of global position information, (SLAM) techniques aredeployed to construct a map.• State of the art:– Classic non-coordinated strategies– Classic coordinated strategies– Integrated non-coordinated strategies– Integrated coordinated strategiesOutline Introduction Co-Swarm Timeline Our StatusIntroduction|Area ExplorationCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 61st Seminar
  7. 7. Previous Work• In absence of global position information, (SLAM) techniques aredeployed to construct a map.• State of the art:– Classic non-coordinated strategies– Classic coordinated strategies• Frontier-Based Exploration using Multiple Robots – Brain Yamuchi 1998– Integrated non-coordinated strategies– Integrated coordinated strategiesOutline Introduction Co-Swarm Timeline Our StatusCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 71st SeminarIntroduction|Area Exploration
  8. 8. What’s Swarm ?!!• New bio-inspired approach to control the coordination of (Multi-RobotSystem)MRS, which consists of large numbers of mostly simplephysical robots.• This collective behavior leads to the field of Artificial SwarmIntelligence.Outline Introduction Co-Swarm Timeline ReferencesCo-Swarm | Swarm RoboticsCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 81st Seminar
  9. 9. Why Swarm ?!!• Simple and Elegant.– Can be represented by State Machine.• Scalable.• Decentralized.• Usage of local interactions.Outline Introduction Co-Swarm Timeline ReferencesCo-Swarm | Swarm RoboticsCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 91st Seminar
  10. 10. Central Idea• Gain the most new information about the world.• Move to the boundary between open space and uncharted space.Outline Introduction Co-Swarm Timeline ReferencesCo-Swarm |Frontier-Based ExplorationCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 111st Seminar
  11. 11. Evidence Grid• Our Spatial Representation for the Environment.• A Cartesian Grid containing cells and each cell contains its statewhether it is Open , Occupied or unknown.Frontier Detection• Frontiers are regions on the boundary between open space andunexplored space.• A process analogous to edge detection and region extraction incomputer vision is used to find the boundaries between openspace and unknown space.Outline Introduction Co-Swarm Timeline ReferencesCo-Swarm |Frontier-Based ExplorationCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 121st Seminar
  12. 12. Navigate to Frontiers• The robot attempts to navigate to the nearest accessibleunvisited frontier.• Motion Planning with Obstacle Avoidance.• Path Finding Algorithm  A*.Outline Introduction Co-Swarm Timeline ReferencesCo-Swarm |Frontier-Based ExplorationCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 131st Seminar
  13. 13. Outline Introduction Co-Swarm Timeline ReferencesCo-Swarm |Frontier-Based ExplorationCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 141st Seminar
  14. 14. Multi-Robot ExplorationOutline Introduction Co-Swarm Timeline ReferencesCo-Swarm |Frontier-Based ExplorationCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 151st Seminar
  15. 15. Outline Introduction Co-Swarm Timeline ReferencesCo-Swarm |System ArchitectureCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 161st Seminar
  16. 16. Outline Introduction Co-Swarm Timeline ReferencesCo-Swarm |System ArchitectureCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 171st Seminar
  17. 17. Robocars• 4-wheels car:– with 4 DC motors and encodersOutline Introduction Co-Swarm Timeline ReferencesCo-Swarm |CapabilitiesCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 181st Seminar
  18. 18. Microcontroller• ISP flash memory for 128 KB Internal Programming.• 4 KB EEPROM.• 4 KB Internal SRAM.Outline Introduction Co-Swarm Timeline ReferencesCo-Swarm |CapabilitiesCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 191st Seminar
  19. 19. Sensors• Position Sensitive Device (PSD)– Range: 10 cm  80 cm• Ultrasonic :– Range: 10 cm  10 m• Infra-red:– For line tracking ApplicationsOutline Introduction Co-Swarm Timeline ReferencesCo-Swarm |CapabilitiesCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 201st Seminar
  20. 20. Bluetooth Module• Used in communication to exchange map informationOutline Introduction Co-Swarm Timeline ReferencesCo-Swarm |CapabilitiesCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 211st Seminar
  21. 21. Camera• Our system will not depend on vision system.• Capturing the surroundings and pass the data to a basestation.– 3D Area reconstruction.Outline Introduction Co-Swarm Timeline ReferencesCo-Swarm |CapabilitiesCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 221st Seminar
  22. 22. BrainsOutline Introduction Co-Swarm Timeline ReferencesCo-Swarm |CapabilitiesCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 231st Seminar
  23. 23. BrainsOutline Introduction Co-Swarm Timeline ReferencesCo-Swarm |CapabilitiesCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 241st Seminar
  24. 24. • AVR StudioOutline Introduction Co-Swarm Timeline ReferencesCo-Swarm |Tools and EnvironmentCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 251st Seminar
  25. 25. Outline Introduction Co-Swarm Timeline ReferencesTimelineID Task name start finish 11 12 1 2 3 4 51 problem characterization 1/11 15/112 literature survey on cooperativemapping using multirobot systems15/11 1/13 Testing robo-car capabilities 15/11 15/124 Developing a set of simplebehaviors to control the motion ofrobo-car, obstacle avoidance25/1 20/25 Developing a robo-car frameworkto work with20/2 6/36 Implementing exploration on onerobot25/2 10/37 Developing a fusion technique forcombining local maps into globalmap10/3 5/4Co-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 261st Seminar
  26. 26. Outline Introduction Co-Swarm Timeline ReferencesTimelineID Task name Start finish11 12 1 2 3 4 58 Studying coordinated mobilitymodel mobility and anti-flockingmodel mobility and their effect onthe mapping process10/3 5/49 Implementation 15/11 1/510 Performance evaluation andrefinement15/4 15/511 Final Report 1/12 30/512 Presentation and final deliveryCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 271st Seminar
  27. 27. Framework• Robot Motion:– Description– PID ControlOutline Introduction Co-Swarm Timeline ReferencesTimeline| Our StatusCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 301st Seminar
  28. 28. Outline Introduction Co-Swarm Timeline ReferencesTimeline| Our StatusCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 311st SeminarD=2*∏*rr= 42 mm∅=D/RR= 116 mmVL /(R-L/2) = VR /(R+L/2)L = 24 cm
  29. 29. Outline Introduction Co-Swarm Timeline ReferencesTimeline| Our StatusCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 321st SeminarFramework– Control Theory• Systems (Velocity) : it is the component which describe what is the system doing now .• System output (Rotations): is the result or the signals which generating from the system .• Sensor(Encoder): it is the feedback system which can sense the output of the system .• Reference(Target Velocity) : it is the target of the system or what we need the systemactually do.• Controller(PWM) : the component which convert the Measured error to control signals.
  30. 30. Framework• Motion Control : PID ControlOutline Introduction Co-Swarm Timeline ReferencesTimeline| Our StatusCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 331st Seminar
  31. 31. Framework• Motion Control :– PID Control effectOutline Introduction Co-Swarm Timeline ReferencesTimeline| Our StatusCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 341st Seminar
  32. 32. Framework• PID Control:Outline Introduction Co-Swarm Timeline ReferencesTimeline| Our StatusCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 351st Seminar
  33. 33. Framework• Communication:– Sending and receiving data using BluetoothOutline Introduction Co-Swarm Timeline ReferencesTimeline| Our StatusCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 361st Seminar
  34. 34. Area ExplorationOutline Introduction Co-Swarm Timeline ReferencesTimeline| Our StatusCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 381st SeminarStopAvoidObstaclesRotateMoveGather Information &Creating Local GridExploreNo Avail. PathAvail. PathFind obstacleNew pathNew path
  35. 35. Area Exploration• Now , We are working on the following :-– Implementation of a mapping technique.– Implementation path planning:• Data Structure  Metric Mapping.• Algorithm  A* for static environment .Outline Introduction Co-Swarm Timeline ReferencesTimeline| Our StatusCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 391st Seminar
  36. 36. • Frontier-Based Exploration Using Multiple Robots – BrainYamauchi – 1998.• A Frontier-Based Approach for Autonomous Exploration –Brain Yamauchi – 1997.• A comparison of path planning strategies for autonomousexploration and mapping of unknown environments – MiguelJuliá – 2012.• Probabilistic Robotics – Sebastian Thrun.• An Introduction to AI Robotics – Robin R. Murphy.• Embedded Robotics – Thomas Braunl.• Robocar user Manual.Outline Introduction Co-Swarm Timeline ReferencesReferencesCo-Swarm: Cooperative area exploration using a swarm of mobile robots February 2013 401st Seminar

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