Transcript - Play PPT
SWARM ROBOTICS WWW.PLAYPPT.COM INTRODUCTION ▸ Swarm Robotics is a new approach to the co-ordination of multi robot systems which consist of large numbers of mostly simple physical robots. ▸ It is supposed that a desired collective behaviour emerges from the interactions between the robots and interactions robots with the environment. ▸ This approach emerged on the field of artificial swarm intelligence, as well as the biological studies of insects, ants, and other fields in nature, where swarm behaviour occurs. WWW.PLAYPPT.COM LOOK AT SWARM ROBOTS WWW.PLAYPPT.COM MAIN CHARACTERISTICS ▸ The robots of the swarm must be autonomous robots, able to sense and actuate in a real environment. ▸ The number of robots in the swarm must be large. ▸ Robots must be homogenous. ▸ The robots need to collaborate in order to succeed or to improve the performance. ▸ Robots have only local communication and sensing capabilities. WWW.PLAYPPT.COM TWO MAIN ORGANS ▸ Software ▸ It gives a simulation environment to the functioning of the robot. ▸ Hardware ▸ It brings into action, direction simulated by the software. ▸ When many such inter-communicable robots are brought to work together, swarming action comes to force. WWW.PLAYPPT.COM BEHAVIOURS ▸ Aggregation ▸ Task allocation ▸ Dispersion ▸ Source search ▸ Pattern formation ▸ Collective transport of objects ▸ Collective movement ▸ Collective mapping WWW.PLAYPPT.COM SPECIAL CHARACTERISTICS ▸ De-centralization ▸ It has no central control or leader for the group ▸ Self-Organisation ▸ It gives the notion of emergent intelligence to swarm robotics ▸ Parallel distribution ▸ It helps in enhancing its functional capability WWW.PLAYPPT.COM TWO COMMUNICATION METHODS ▸ Implicit communication ▸ It is a method of communication through the environment or by changing the environment. ▸ Explicit communication ▸ It is a method of communication in which the robots directly pass messages to each other. ▸ Technologies used: Bluetooth, Wireless LAN, or Infrared WWW.PLAYPPT.COM TWO ALGORITHMS ▸ Flocking Algorithm (FA) ▸ Developed by Craig Reynolds ▸ Aggregation of thousands of individuals in an elegant and organised manner ▸ Ant Colony Optimisation (ACO) ▸ Developed by Marco Dario ▸ Useful in problems that need to find paths to goals WWW.PLAYPPT.COM APPLICATIONS ▸ Monitoring tasks ▸ Detecting hazardous events ▸ Dangerous tasks ▸ Search and rescue WWW.PLAYPPT.COM MAIN SECURITY CHALLENGES ▸ Physical capture of the robots ▸ Identity and authentication ▸ Communication attacks WWW.PLAYPPT.COM FUTURE WORK ▸ Mathematical modelling of swarm robotic systems ▸ Work on safety analysis at robot and swarm level ▸ Develop an approach to the design of emergence ▸ Develop methodologies and practises for the testing of swarm systems. WWW.PLAYPPT.COM THANK YOU