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[Gp][2nd seminar][presentation]

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[Gp][2nd seminar][presentation]

  1. 1. Computer and Information Science | Computer Systems Department2nd Seminar 11/4/2013Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 12nd 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 robotsCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 22nd Seminar
  3. 3. • Frontier-Based Exploration– Single Exploration:• Motion Planning Module.• Path Executer.• Communication.– Co-Swarm:• Self-Organizing Models.• Anti-Flocking model.• Timeline:– Our Status.OutlineCo-Swarm: Cooperative area exploration using a swarm of mobile robotsCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 32nd SeminarOutline Single Exploration Co-Swarm Timeline References
  4. 4. Motion Planning– Navigate to Frontiers[Area Exploration].Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFrontier-Based|Motion PlanningCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 42nd SeminarOutline Single Exploration Co-Swarm Timeline ReferencesStopAvoidObstaclesRotateMoveExploreNo Avail. PathAvail. PathFind obstacleNew pathNew path
  5. 5. Motion Planning– Navigate to Frontiers[Area Exploration].– Static Environment.– A* Algorithm.Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFrontier-Based|Motion PlanningCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 52nd SeminarOutline Single Exploration Co-Swarm Timeline References
  6. 6. Motion Planning– Navigate to Frontiers[Area Exploration].– Static Environment .– A* AlgorithmCo-Swarm: Cooperative area exploration using a swarm of mobile robotsFrontier-Based|Motion PlanningCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 62nd SeminarOutline Single Exploration Co-Swarm Timeline References
  7. 7. Path Executer– Replace Robo-Car brains with PC’s.– Sending a optimal path to the Robot.– Embedded implementation for path execution.Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFrontier-Based|Path ExecuterCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 72nd SeminarOutline Single Exploration Co-Swarm Timeline References
  8. 8. Path Executer– Replace Robo-Car brains with PC’s.– Sending a optimal path to the Robot.– Embedded implementation for path execution.Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFrontier-Based|Motion PlanningCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 82nd SeminarOutline Single Exploration Co-Swarm Timeline References
  9. 9. Path ExecuterCo-Swarm: Cooperative area exploration using a swarm of mobile robotsFrontier-Based|Motion PlanningCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 92nd SeminarOutline Single Exploration Co-Swarm Timeline References
  10. 10. Communication:– PC-to-PC using Wireless LAN .– Robot-to-PC using Bluetooth.Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFrontier-Based|CommunicationCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 102nd SeminarOutline Single Exploration Co-Swarm Timeline References
  11. 11. Communication:– PC-to-PC using Wireless LAN .– Robot-to-PC using Bluetooth.Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFrontier-Based|CommunicationCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 112nd SeminarOutline Single Exploration Co-Swarm Timeline References
  12. 12. Swarm Intelligence–Mobility Models of Mobile Sensors:• Fully Coordinated Control Model.• Fully Random Model• Self-Organizing Models:– Emergent Motion Control Model– Anti-Flocking AlgorithmCo-Swarm: Cooperative area exploration using a swarm of mobile robotsFrontier-Based|Co-SwarmCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 122nd SeminarOutline Single Exploration Co-Swarm Timeline References
  13. 13. Swarm Intelligence–Mobility Models of Mobile Sensors:• Fully Coordinated Control Model.• Fully Random Model• Self-Organizing Models:– Emergent Motion Control Model–Anti-Flocking AlgorithmCo-Swarm: Cooperative area exploration using a swarm of mobile robotsFrontier-Based|Co-SwarmCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 132nd SeminarOutline Single Exploration Co-Swarm Timeline References
  14. 14. Swarm Intelligence–Anti-Flocking [Social Behavior Of SolitaryAnimals]• There are some animals that survive due todifferent social behaviors called solitaryflocking.• The cooperative behavior can be thought ashigh-level cooperation based on neighborhoodcommunicationCo-Swarm: Cooperative area exploration using a swarm of mobile robotsFrontier-Based|Co-SwarmCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 142nd SeminarOutline Single Exploration Co-Swarm Timeline References
  15. 15. Swarm Intelligence–Anti-Flocking [Social Behavior Of SolitaryAnimals]• AF algorithm is inspired by the cooperativebehavior of solitary animals that results inmaximizing search coverage and minimizingoverlapping.Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFrontier-Based|Co-SwarmCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 152nd SeminarOutline Single Exploration Co-Swarm Timeline References
  16. 16. Swarm Intelligence–Anti-Flocking [Social Behavior Of SolitaryAnimals]• Collision Avoidance.• De-Centering.• Selfishness.Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFrontier-Based|Co-SwarmCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 162nd SeminarOutline Single Exploration Co-Swarm Timeline References
  17. 17. TimelineID 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 robotsOutline Single Exploration Co-Swarm Timeline ReferencesApril 2013 172nd Seminar
  18. 18. TimelineID 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 robotsOutline Single Exploration Co-Swarm Timeline ReferencesApril 2013 182nd Seminar
  19. 19. • Frontier-Based Exploration Using Multiple Robots – BrainYamauchi – 1998.• A Frontier-Based Approach for Autonomous Exploration – BrainYamauchi – 1997.• A comparison of path planning strategies for autonomousexploration and mapping of unknown environments – MiguelJuliá – 2012.• Novel Mobility Model for Mobile Sensors Deployment inSurveillance Systems – Alaa Khamis – 2011 .• Probabilistic Robotics – Sebastian Thrun.• An Introduction to AI Robotics – Robin R. Murphy.• Embedded Robotics – Thomas Braunl.• Robocar user Manual.ReferencesCo-Swarm: Cooperative area exploration using a swarm of mobile robotsCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 192nd SeminarOutline Single Exploration Co-Swarm Timeline References

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