BeBot: A Modular Mobile Miniature Robot Platform Supporting Hardware Reconfiguration and Multi-standard Communication

Herbrechtsmeier, Stefan; Witkowski, Ulf; Rückert, Ulrich

doi:10.1007/978-3-642-03986-7_40

Cited by 29 publications

(11 citation statements)

References 2 publications

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“…Mini-robots such as Bebots [5], shown in figure 1 are suitable candidates for this mission. These robots are equipped with a camera for target detection, an infrared sensor ring for obstacle avoidance and zigbee and bluetooth for communication.…”

Section: Scenariomentioning

confidence: 99%

“…Hence they have to use suitable motion patterns or spinbehaviors to provide full coverage within the sensing region. Another module they support is a Nanotron radio signaling system [5], which uses RF ranging techniques to estimate the position of the nearby robots. We assume that, using this positioning system each robot can estimate the position of all other robots within the communication range.…”

Section: Scenariomentioning

confidence: 99%

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Self-Organized Cooperation in Swarm Robotics

Khaluf

Mathews

Rammig

2011

2011 14th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing Workshops

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Cooperation is a key concept used in multi-robot systems for performing complex tasks. In swarm robotics, a self-organized cooperation is applied, where robots with limited intelligence cooperate and interact locally to build up the desired global behavior. In this paper, we are studying a mobile object tracking scenario performed by a swarm of robots. The robustness, scalability and flexibility of swarm robots make it an attractive approach for missions like object tracking in complex and dynamic environments. As the individual robot capabilities are limited in swarm systems, the robots may not be able to track the mobile object continuously. This limitation is overcome using the robots communication capability. In order to increase the probability of object detection, we propose a greedy self-deployment strategy, where the robots are spread uniformly in the environment to be monitored. For detecting a moving target, the robots use a biologically inspired algorithm for collecting robots currently located in other regions to track the target. In such cooperative tasks the robots normally need to be time synchronized for simultaneous activation. A new proposal for time synchronization in swarm robots is introduced which exploits the mobility of the robots for handling possible disconnections in the network and synchronize them at the beginning of tracking time slots.

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Section: Scenariomentioning

confidence: 99%

Section: Scenariomentioning

confidence: 99%

Self-Organized Cooperation in Swarm Robotics

Khaluf

Mathews

Rammig

2011

2011 14th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing Workshops

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“…The test platform is a wheeled mobile robot known as BeBot [7]. It is a miniature mobile robot developed at Heinz Nixdorf Institute and has been used in various research projects, e.g., [8].…”

Section: Intelligent Miniature Robot Bebotmentioning

confidence: 99%

A Modelica Library for Real-Time Coordination Modeling

Pohlmann

Dziwok

Suck

et al. 2012

Linköping Electronic Conference Proceedings

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Increasingly, innovative functionality in embedded systems is realized by connecting previously autonomous embedded systems. This requires real-time communication and coordination between these connected systems. Modelica and the StateGraph2 library provide a good environment for modeling embedded systems including controllers and physics. However, it lacks appropriate support for modeling the communication and coordination part.In this paper, we present an extension to the StateGraph2 library that enables modeling asynchronous and synchronous communication and rich real-time constraints. We illustrate our extension of the StateGraph2 library by modeling and simulating two miniature robots driving in a platoon.

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“…Consider the systems found in modern vehicles such as airplanes and cars, or those running industrial systems. Unmanned devices such as autonomous submarines or mobile robots (Herbrechtsmeier et al, 2009) fully rely on the embedded systems within them to achieve their tasks. Once deployed, the system will be expected to run for periods ranging from months to decades (Koopman, 1996).…”

Section: Introductionmentioning

confidence: 99%

“…Hence, simple computational and communication units connected with similar units give rise to complex behavior which is also the basic concept of swarms (Dorigo and Birattari, 2007). An example where units (or nodes) that are relatively simple at the individual level but combine to create more complex behavior, is a group of communicating mobile robots called bebots (Herbrechtsmeier et al, 2009). The Bebots consist of a relatively simple architecture and communicate via an ad-hoc network.…”

Section: Introductionmentioning

confidence: 99%

Deterministic Runtime Adaptation for Hard Real-Time Embedded Systems With Processing Constraints

Tariq

2011

Proceedings of the 2nd International Conference on Pervasive Embedded Computing and Communication Systems

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Increasing the connectivity of systems at various levels gives rise to potential benefits that is addressed by trends such as the Internet of Things, Cyber-Physical Systems and Cyber-Biosphere. It is inevitable that the vast global network will consist of computationally constrained units. The ability of such systems to adapt while being connected to a global network presents new opportunities. Qualities such as fault tolerance and load sharing may be extended to nodes in the network that initially were devoid of them. On the other hand, an open adaptable system that does not limit its adaptation to pre-defined and pre-containing states needs to be connected to one or more sources that may provide the necessary behavioral units to switch to the new state. Extending computationally constrained nodes with the ability to adapt is in itself challenging, which increases when timely behavior is required due to real-time requirements. The system must then guarantee all deadlines implying the need for deterministic adaptation. The question of when to adapt becomes an important one with real-time deadlines involved. We present our work on a framework that aims to achieve deterministic runtime adaptation on single processor systems thereby enabling such computationally constrained systems to extend their functionality and non-functional qualities.

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BeBot: A Modular Mobile Miniature Robot Platform Supporting Hardware Reconfiguration and Multi-standard Communication

Cited by 29 publications

References 2 publications

Self-Organized Cooperation in Swarm Robotics

Self-Organized Cooperation in Swarm Robotics

A Modelica Library for Real-Time Coordination Modeling

Deterministic Runtime Adaptation for Hard Real-Time Embedded Systems With Processing Constraints

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