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Physics Based Formation Behavior in Autonomous Robots

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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