Swarm Robotics at the University of Wyoming

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2 Νοε 2013 (πριν από 3 χρόνια και 10 μήνες)

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UW Computer Science Department

Swarm Robotics

at the

University of Wyoming


Dr. William M. Spears

Dr. Diana F. Spears

Computer Science Department

University of Wyoming

UW Computer Science Department

Traditional Robotics


Traditionally, robotics
researchers focus on the
development of highly
capable and expensive robots.
Only a few are made.


Predator airplanes


With swarm robotics, the
emphasis is on having lots of
relatively inexpensive robots.


Micro
-
air vehicles

UW Computer Science Department

Advantages


Swarms of robots are effective:


They can perform tasks that one expensive
robot cannot.


Swarms are robust:


Even if some robots fail, the swarm can still
achieve the task.

UW Computer Science Department

Goal


The UW Distributed Robotics Laboratory
serves as an environment for prototyping
and demonstration of proof
-
of
-
principle for
swarm robotics.


Our goal is to design methods for enabling
groups of robots to perform important real
-
world tasks…

UW Computer Science Department

Tasks


Search and Rescue


Surveillance


Convoy / Formation Movement


Organizing into a Formation


Movement Toward a Goal


Avoiding Obstacles


Chemical Plume Source Tracing


UW Computer Science Department

Search and Rescue Project



Graduate Student:

Wesley Kerr

UW Computer Science Department

Search and Rescue Simulation

Task: Robots

must avoid

obstacles and

each other while

reaching the

rescue area.

Rescue Area

UW Computer Science Department

Surveillance Project

Funded by Defense Advanced


Research Projects Agency (DARPA)


Graduate Students:

Wesley Kerr

Suranga Hettiarachchi

Dimitri Zarzhitsky

UW Computer Science Department

Scenario: Unmanned Aerial Vehicles

Cooperate To Detect Targets

Terrain detector

Target detector

UAV

UAV

UAV

UW Computer Science Department

Surveillance Simulation

UAVs

forest

Task: UAVs must detect

as many of the moving

targets as possible, while

avoiding each other.


UW Computer Science Department

Convoy / Formation

Movement Project



Graduate Student:

Suranga Hettiarachchi

UW Computer Science Department

Formation Organization

Task 1: Robots must
organize themselves into

formation.

UW Computer Science Department

Formation Movement

Task 2: Robots must
organize themselves into

formation and then move

toward a light source.

UW Computer Science Department

Formation Movement Simulation

Task 3: Robots
must organize
themselves into

formation and
then move

toward a goal,
while avoiding
obstacles.

goal

UW Computer Science Department

Chemical Plume Tracing Project

Portions of this work to be funded by the

Joint Robotics Program.

Testing to take place at Camp Guernsey.


Graduate Student:

Dimitri Zarzhitsky

UW Computer Science Department

Plume Tracing Simulation

Robots must organize themselves into a
formation, and then locate the source of a
chemical hazard, while avoiding obstacles.

source

UW Computer Science Department

Plume Tracing Experiments

UW Computer Science Department

Ultrasonic Localization for
Swarms of Robots

Portions of this work to be funded by the

Joint Robotics Program.

Testing to take place at Camp Guernsey.


Graduate Students:

Paul Maxim

Thomas Kunkel

UW Computer Science Department

Hardware implementation


Swarm robot
technology equipped
with a localization
system



Use trilateration
method for local
positioning system

Robot prototype

UW Computer Science Department

Project Participants


FACULTY


Jerry Hamann, Cameron Wright (
Electrical and Computer Engineering
)


M. P. Sharma (
Chemical Engineering
)


John Schabron (
Chemist, Western Research Institute
)


Dave Walrath, Doug Smith, Dimitri Mavriplis (
Mechanical Engineering
)


Dan Stanescu (
Mathematics
)


David Thayer (
Physics and Astronomy
)


GRADUATE STUDENTS


Rodney Heil


Suranga Hettiarachchi


Wesley Kerr


Lee Frey


Thomas Kunkel


Paul Maxim


Mark Patterson


Yi Shi


Dimitri Zarzhitsky


UNDERGRADUATE STUDENTS


Paul Hansen


Kurt Lawton


Ben Palmer


David Weiser


Ella Wellman


Brian Zuelke



UW Computer Science Department

Questions

and

Robot Demonstration