Underwater search and rescue in swarm robotics - Mark Read

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Mark Read's Case Study from AWASS 2013

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Underwater search and rescue in swarm robotics - Mark Read

  1. 1. Underwater  search  and  rescue     in  swarm  robo2cs   Dr.  Mark  Read   Department  of  Electronics,     The  University  of  York,  UK   hBp://markread.info  mark.read@york.ac.uk  
  2. 2. Underwater  explora2on   •  Oceanic  explora2on   – Undiscovered  resources,  minerals,  etc.     •  BP  Deepwater  Horizon  oil  spill  (2010)   – Pipeline  maintenance  in  general   – Toxic  chemical  leaks,  plume  tracking   •  Air  France  Flight  447  (2009)   •  Water  challenging  environment   – 3D  coordina2on,  curents   – Communica2on,  localiza2on  
  3. 3. CoCoRo   •  Collec2ve  Cogni2ve  Robots  (CoCoRo)   – Graz,  UY,  StuBgart,  SSSA,  ULB   •  Swarm  Intelligence/robo2cs   – Collec2ve  of  “rela2vely”  simple  individuals   – performing  rela2vely  simple  func2ons   – To  provide  complex  group  behaviour   •  2  robo2c  hardware  pla`orms  under   development   •  Simula2on-­‐based  design  whilst  hardware   constructed/developed  
  4. 4. CoCoRo   •  Swarm  intelligence  +  collec2ve  cogni2ve   decision  making  =  improved  underwater   capabili2es   •  Collec2ve  cogni2on   – Decisions  made  across  the  group   – Dynamic  reconfigura2on  and                realloca2on  of  swarm   – Anomaly/fault  tolerance   •  Mirror  Experiment  
  5. 5. Vision   •  Video  removed  to  reduce  file  size  
  6. 6. Hardware   Video  removed  to  reduce  file  size  
  7. 7. Hardware   •  ‘Jeff’  &  ‘Lily’  (10x13cm)   •  Communica2on:   –  Bluelight;  ~  50cm   –  Radiofrequency;  ~50cm   –  Acous2c;  longrange   •  Localiza2on   –  Bluelight;  ~50cm   –  Electrosense;  30cm?   •  Mo2on   –  Thrusters   –  Buoyancy  pump   –  Stay  horizontal  
  8. 8. Shoaling   •  Reynold’s  boids  algorithm     •  Distance  sensing  through  BL   •  Communica2on  of  veloci2es  through  RF   •  Can  use  “GPS”  for  this  problem   Separa2on   Cohesion   Alignment  
  9. 9. Simula2on   •  Demo?  
  10. 10. Relay  chain   •  Connects  two  points  in  space   –  …  points  that  can  move  (1  of  them  at  least)   –  Connects  exploratory  shoal  to  base  sta2on    
  11. 11. Relay  chain   •  Should  grow  and  shrink  as  required   –  AUVs  join  and  leave  the  chain   –  Move  between  chain  and  shoal    
  12. 12. Relay  chain   •  Should  be  anchored   –  When  there  are  too  few  AUVs  in  the  shoal,  the  chain   should  anchor  the  shoal  
  13. 13. ‘One  I  made  earlier’   Original  video  can  be  found  at  :     hBp://markread.info/2013/02/chain-­‐shoal/  
  14. 14. Things  to  get  you  started   •  Simula2on  +  GUI   •  Calibrated  AUVs  –  rigid  body  physics  engine   – Lily   •  AUVs  have  an  OS   – Greatly  aids  controller  design,  and  coordina2on   •  Working  shoaling  algorithm  
  15. 15. All  you  have  to  do  is:   •  Design  relay  chain  forma2on  algorithm   – Probably  best  to  start  simple   – Pen  and  paper  to  begin  with   •  Integrate  it  with  shoaling   – Will  likely  need  to  modify  the  shoaling  alg   •  (this  is  probably  harder  than  it  sounds)  
  16. 16. Learning  outcomes?   •  Get  a  feel  for  swarm  robo2c  problems   – Principles  of  swarm  intelligence   – Engineering  collec2ve  behaviour  at  the  individual   level   •  Coordina2on  and  localiza2on  in  3D  space   •  Understand  the  benefit  of  simula2on  in  SR   – This  is  a  hard  problem,  imagine  trying  to  design   this  algorithm  in  real  robots  only   •  This  is  a  real  problem    
  17. 17. Any  Ques2ons?  
  18. 18. Resources  
  19. 19. NetLogo   •  Needs  to  be  downloaded:   – hBp://ccl.northwestern.edu/netlogo/   •  The  problem  source  code  can  be  downloaded   from  (once  I  have  put  it  up,  I  also  have  it  on   USB  s2ck):   – hBp://markread.info/resources  
  20. 20. NetLogo  Documenta2on   •  Is  quite  good.   •  hBp://ccl.northwestern.edu/netlogo/docs/dic2onary.html   •  Or  google  “Netlogo  (3D)  dic2onary”   •  There  are  3D  analogues  for  most  2D   procedures  

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