Design Principles for Cooperative Robots with Uncertainty-Aware and Resource-Wise Adaptive Behavior

Garcia-Saura, Carlos; Rodrı́guez, Francisco; Varona, Pablo

doi:10.1007/978-3-319-09435-9_10

Cited by 3 publications

(4 citation statements)

References 17 publications

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“…The GNBot robots were originally designed as a platform that could evaluate swarm search strategies in real-world environments [1,2]. The target of those searches are odor sources based on volatile compounds (such as ethanol) that can be detected by the gas sensor on-board each robot.…”

Section: Performance In Odor Search Experimentsmentioning

confidence: 99%

“…The starting point of this project is the GNBot swarm robot platform that was presented in "Design principles for cooperative robots with uncertainty-aware and resourcewise adaptive behavior" [1], and "Cooperative strategies for the detection and localization of odorants with robots and artificial noses" [2]. Figure 1.1 describes the most relevant characteristics of these robots.…”

Section: Introductionmentioning

confidence: 99%

“…Using this setup it is possible to estimate the motion of the robot in the XY plane given its starting position (P xyα ), the rotational velocity of each motor (ω L , ω R ), the diameter of the wheels (D L , D R ) and their separation (d). This estimation process is known as dead reckoning 1 .…”

Section: Introductionmentioning

confidence: 99%

“…Finally, the wireless communication layer is based on ZigBee, and the green/yellow top markers allow for external video tracking of the swarm. From[1,2].…”

mentioning

confidence: 99%

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Self-calibration of a differential wheeled robot using only a gyroscope and a distance sensor

Garcia-Saura

2015

Preprint

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Research in mobile robotics often demands platforms that have an adequate balance between cost and reliability. In the case of terrestrial robots, one of the available options is the GNBot, an open-hardware project intended for the evaluation of swarm search strategies. The lack of basic odometry sensors such as wheel encoders had so far difficulted the implementation of an accurate high-level controller in this platform. Thus, the aim of this thesis is to improve motion control in the GNBot by incorporating a gyroscope whilst maintaining the requisite of no wheel encoders. Among the problems that have been tackled are: accurate in-place rotations, minimal drift during linear motions, and arc-performing functionality. Additionally, the resulting controller is calibrated autonomously by using both the gyroscope module and the infrared rangefinder on board each robot, greatly simplifying the calibration of large swarms. The report first explains the design decisions that were made in order to implement the self-calibration routine, and then evaluates the performance of the new motion controller by means of off-line video tracking. The motion accuracy of the new controller is also compared with the previously existing solution in an odor search experiment.

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Section: Performance In Odor Search Experimentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…Finally, the wireless communication layer is based on ZigBee, and the green/yellow top markers allow for external video tracking of the swarm. From[1,2].…”

mentioning

confidence: 99%

See 2 more Smart Citations

Self-calibration of a differential wheeled robot using only a gyroscope and a distance sensor

Garcia-Saura

2015

Preprint

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Effects of Locomotive Drift in Scale-Invariant Robotic Search Strategies

Garcia-Saura

Serrano

Rodríguez

et al. 2017

Biomimetic and Biohybrid Systems

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Intrinsic and environmental factors modulating autonomous robotic search under high uncertainty

Garcia-Saura

Serrano

Rodríguez

et al. 2021

Sci Rep

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Autonomous robotic search problems deal with different levels of uncertainty. When uncertainty is low, deterministic strategies employing available knowledge result in most effective searches. However, there are domains where uncertainty is always high since information about robot location, environment boundaries or precise reference points is unattainable, e.g., in cave, deep ocean, planetary exploration, or upon sensor or communications impairment. Furthermore, latency regarding when search targets move, appear or disappear add to uncertainty sources. Here we study intrinsic and environmental factors that affect low-informed robotic search based on diffusive Brownian, naive ballistic, and superdiffusive strategies (Lévy walks), and in particular, the effectiveness of their random exploration. Representative strategies were evaluated considering both intrinsic (motion drift, energy or memory limitations) and extrinsic factors (obstacles and search boundaries). Our results point towards minimum-knowledge based modulation approaches that can adjust distinct spatial and temporal aspects of random exploration to lead to effective autonomous search under uncertainty.

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Design Principles for Cooperative Robots with Uncertainty-Aware and Resource-Wise Adaptive Behavior

Cited by 3 publications

References 17 publications

Self-calibration of a differential wheeled robot using only a gyroscope and a distance sensor

Self-calibration of a differential wheeled robot using only a gyroscope and a distance sensor

Effects of Locomotive Drift in Scale-Invariant Robotic Search Strategies

Intrinsic and environmental factors modulating autonomous robotic search under high uncertainty

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