Development of IR-Based Short-Range Communication Techniques for Swarm Robot Applications

Abstract

This paper proposes several designs for a reliable infra-red based communication techniques for swarm robotic applications. The communication system was deployed on an autonomous miniature mobile robot (AMiR), a swarm robotic platform developed earlier. In swarm applications, all participating robots must be able to communicate and share data. Hence a suitable communication medium and a reliable technique are required. This work uses infrared radiation for transmission of swarm robots messages. Infrared transmission methods such as amplitude and frequency modulations will be presented along with experimental results. Finally the effects of the modulation techniques and other parameters on collective behavior of swarm robots will be analyzed

Power-Law Distribution of Long-Term Experimental Data in Swarm Robotics

“…The rotational speed for each motor is controlled individually using pulse-width modulation [1]. The basic Colias uses only IR proximity sensors to avoid obstacles as well as the collision with the other robots [3], and a light sensor to read intensity of the ambient light. Colias is a modular robot which supports extension modules such as bio-inspired vision board developed in [11].…”

Colias: An Autonomous Micro Robot for Swarm Robotic Applications

“…In this regard, infrared is a suitable choice as an inter-robot communication medium for robotic swarm applications compared with other wireless communication techniques, such as radio frequency. The advantages of using IR in swarm applications include position estimation, neighbouring robot recognition and direct communication, and they can be utilized for obstacle avoidance [25].…”

“…The long-range system is composed of six IR proximity sensors (each 60 • on the robot's upper board) for obstacle and robot detection [25]. The IR sensing system is able to distinguish robots from obstacles.…”

Imitation of Honeybee Aggregation with Collective Behavior of Swarm Robots.

“…21 Based on viewing angle of IR components (~60°), the robot covers surrounded area with maximum range of 12 ±1 cm. Two micro DC motors with internal gear are utilized for motion of robot with maximum speed of 10 cm/s.…”

“…Robots transmit IR radiation continuously. 21 Captured values of the IR receivers are checked by the main processor and it produces an interrupt when the IR reaches a defined threshold level. IR reflections and its intensity levels are used to distinguish between wall and other robots.…”