<i>mROBerTO 2.0</i> – An Autonomous Millirobot With Enhanced Locomotion for Swarm Robotics

Eshaghi, Kasra; Li, Yuchen; Kashino, Zendai; Nejat, Goldie; Benhabib, B.

doi:10.1109/lra.2020.2966411

Cited by 13 publications

(11 citation statements)

References 34 publications

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“…Members of the swarm individually translate and rotate along the given trajectory to achieve the desired configurations, successively. mROBerTO 2.0, developed in our lab at the University of Toronto [8,9,10], is a millimeter-scale robot with a swarm-sensing module that allows it to accurately measure the relative proximity of nearby robots through IR communication, as shown in Fig. 15.…”

Section: Swarm Motion Experimentsmentioning

confidence: 99%

“…Correspondingly, such swarm systems, often, balance desirable properties associated with decentralized architectures (e.g., scalability to larger teams and robustness to the loss of members) with the relative simplicity of centralized control. In academia, SRSs are, commonly, investigated using millimeter scale robots, millirobots [8,9,10], and have been proposed for applications such as search and rescue [11,12,13], construction [14,15,16], and environmental monitoring [17,18].…”

Section: Introductionmentioning

confidence: 99%

“…Approaches to swarm localization, mainly, focus on estimating the relative distances between robots [8,9,10,38,39], or estimating the changes to the swarm's formation using sample statistics from the swarm [40,41,42,43]. Methods of estimating the positions and orientations (poses) of all robots in the swarm by fusing sensing data and motion commands [44,45,46,47,48,49], and methods that propose the use of external infrastructure, such as stationary beacons [50,51,52,53] (e.g., GPS, NorthStar) and computer vision systems [54,55,56] (e.g., AprilTag, WhyCon, and OptiTrack) have also been suggested in the literature.…”

Section: Introductionmentioning

confidence: 99%

“…However, often, external infrastructure may not be readily available to assist with localization (e.g., in disaster zones) or even possible to use (e.g., unstructured indoor environments). External infrastructures may also require additional hardware to be installed on the swarm robots -a difficult task due to the size limitations of millirobots used in swarm robotics research [8,9,10].…”

Section: Introductionmentioning

confidence: 99%

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An inchworm-inspired motion strategy for robotic swarms

et al. 2021

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Effective motion planning and localization are necessary tasks for swarm robotic systems to maintain a desired formation while maneuvering. Herein, we present an inchworm-inspired strategy that addresses both these tasks concurrently using anchor robots. The proposed strategy is novel as, by dynamically and optimally selecting the anchor robots, it allows the swarm to maximize its localization performance while also considering secondary objectives, such as the swarm’s speed. A complementary novel method for swarm localization, that fuses inter-robot proximity measurements and motion commands, is also presented. Numerous simulated and physical experiments are included to illustrate our contributions.

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Section: Swarm Motion Experimentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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An inchworm-inspired motion strategy for robotic swarms

et al. 2021

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“…15. mROBerTO and mROBerTO 2.0 are robotic platforms with advanced computational and sensing abilities to create swarm robotics applications. The advances on this platform allowed the creation of platforms with more reliability and repeatable locomotion [61]. 16.…”

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confidence: 99%

Swarm Robotics: A Perspective on the Latest Reviewed Concepts and Applications

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Silva

Filho

et al. 2021

Sensors

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Known as an artificial intelligence subarea, Swarm Robotics is a developing study field investigating bio-inspired collaborative control approaches and integrates a huge collection of agents, reasonably plain robots, in a distributed and decentralized manner. It offers an inspiring essential platform for new researchers to be engaged and share new knowledge to examine their concepts in analytical and heuristic strategies. This paper introduces an overview of current activities in Swarm Robotics and examines the present literature in this area to establish to approach between a realistic swarm robotic system and real-world enforcements. First, we review several Swarm Intelligence concepts to define Swarm Robotics systems, reporting their essential qualities and features and contrast them to generic multi-robotic systems. Second, we report a review of the principal projects that allow realistic study of Swarm Robotics. We demonstrate knowledge regarding current hardware platforms and multi-robot simulators. Finally, the forthcoming promissory applications and the troubles to surpass with a view to achieving them have been described and analyzed.

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