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Distributed Robotic Target Acquisition using Bluetooth Communication

Distributed Robotic Target Acquisition using Bluetooth Communication. J.T. McClain, B.J. Wimpey, D.H. Barnhard, and W.D. Potter Artificial Intelligence Center The University of Georgia Athens, Georgia. Introduction. Goals Solve a team-based “search and destroy” task

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Distributed Robotic Target Acquisition using Bluetooth Communication

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  1. Distributed Robotic Target Acquisition using Bluetooth Communication J.T. McClain, B.J. Wimpey, D.H. Barnhard, and W.D. Potter Artificial Intelligence Center The University of Georgia Athens, Georgia

  2. Introduction • Goals • Solve a team-based “search and destroy” task • Develop a robust chassis for multi-robot teams • Create a method for distributed message passing within a robotic network

  3. Odin and Hodur • Preliminary project • Primary goal was to develop the communication system • Honeybee Task • Localization • Architecture prototyping

  4. Current Phase

  5. Hardware • The Collective multi-robot system • A team of modified Motorworks radio-controlled tanks • Sensory facilities include four sonar rangers, magnetic compass, and four light intensity sensors • Actuators include two independently driven treads and a firing mechanism

  6. Robot Controller Network The primary controller on each robot is a Bluetooth enabled Compaq iPAQ 3970 (Pocket PC 2002) Primitive sensor and actuator functions are handled by a network of two microcontrollers, an Acroname Brainstem GP 1.0 and a Brainstem Moto 1.0 Hardware

  7. GP (Router) Brainstem Moto Brainstem Hardware iPAQ/Brainstem Control Network

  8. Hardware Overview

  9. Sensor Overview

  10. Hardware • The Bluetooth Wireless Protocol • A proprietary wireless protocol that is intended to create a short-range radio link between electronic devices • Primarily used as a wireless desktop solution due to its relatively short range of approximately 30 feet • Characterized by robustness, low complexity, low power, high data transmission speed, security, and low cost

  11. Communications • Previous Version • In the Odin and Hodur model, a loss of one robot would result in mission failure • Current Version • Use of Routing Information Protocol (RIP) prevents this problem • Sends a “heartbeat” at regular intervals • Keeps all robots informed of the status of the others

  12. Behavior • Distributed Search • As the process begins, all robots are searching for the target • Discovery • Once the target has been found, localization begins • After localization, the coordinates of the target are passed to the other robots

  13. Behavior • Formation • Once the target is found, the robot that first acquired the target is considered a leader • It is the leader’s responsibility to determine the placement of the other tanks • Based upon the number of robots that are still “alive” in the status table • Dependent on the location in the environment

  14. Conclusion and Future Directions • Preliminary results indicate that cooperating tanks are a viable option for a distributed search • Future Work • Dynamically tracking moving targets • Improved strategic planning • Better localization scheme

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