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Physics Based Formation Behavior in Autonomous Robots

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Physics Based Formation Behavior in Autonomous Robots. Mark Patterson. Emergent Behavior. Emergent or global behavior is observed in the interactions between homogeneous robots. Autonomy / Independence Local decision procedures Social based and hierarchal based behavior

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Physics Based Formation Behavior in Autonomous Robots

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  1. Physics Based Formation Behavior in Autonomous Robots Mark Patterson

  2. Emergent Behavior • Emergent or global behavior is observed in the interactions between homogeneous robots. • Autonomy / Independence • Local decision procedures • Social based and hierarchal based behavior • Physics based behavior • Provides theoretical guarantees about behavior.

  3. Diamond Wedge Line Column Formation Behavior • Robots will naturally form into structures using a force vector. • Four structures of interest

  4. Formation Behavior • Formations within a volume • Even distribution regardless of the number of robots.

  5. Practical Applications of Formation Behavior • Distributed Arrays / Matrices • Investigation • Exploration • Search • Surveillance • Defense

  6. System Development • Design, fabricate, and implement fleet of inexpensive autonomous mobile robots • Localization / Where am I? • Detecting the presence of other robots • Communication • Knowledge of environment • Sensors

  7. Communication • Asynchronous Serial Communication • Implementations - Pulse Code Modulation (PCM) • Infrared • Transmitter and receiver “on board” the controller module. • Radio frequency - 300 Mhz • Inexpensive garage door transmitters and receivers. • Error control • IR Protocol • 8 bit data/32 bit signal • RF Protocol • 8 bit data/8 bit signal • Stop and wait ARQ

  8. (0,0) b a c Localization • Force vector • Range • Bearing • Beacon system • Trilateration • Position relative to at least two other objects • Distance between each of three objects

  9. (0,0) Ultrasonic transducer beacons • Inexpensive • Omni-directional • Effective range – approx. 1 meter • Reflexive response • response time + (2)(time of flight)

  10. Prototype Lego™robot

  11. Current & future work • Finish development of ultrasonic transducer beacons. • Implement localization algorithm • Demonstrate and record physics based formation behavior. • Validate the behavior using formal methods.

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