Encoderless position estimation and error correction techniques for miniature mobile robots

Lecture Notes in Computer Science

Turgut

Bellotto

et al. 2014

Self Cite

Abstract. In this paper, we compare different aggregation strategies for cuebased aggregation with a mobile robot swarm. We used a sound source as the cue in the environment and performed real robot and simulation based experiments. We compared the performance of two proposed aggregation algorithms we called as the vector averaging and naïve with the state-of-the-art cue-based aggregation strategy BEECLUST. We showed that the proposed strategies outperform BEECLUST method. We also illustrated the feasibility of the method in the presence of noise. The results showed that the vector averaging algorithm is more robust to noise when compared to the naïve method.

Section: Robot Platformmentioning

confidence: 99%

Comparison of Different Cue-Based Swarm Aggregation Strategies

Lecture Notes in Computer Science

Turgut

Bellotto

et al. 2014

Self Cite

“…Two micro DC gearhead motors each connected to a wheel with diameter of 2.2 cm actuate Colias attaining a maximum speed of 35 cm/s. The rotational speed for each motor is controlled individually using pulse-width modulation [1]. The basic Colias uses only IR proximity sensors to avoid obstacles as well as the collision with the other robots [3], and a light sensor to read intensity of the ambient light.…”

Section: Methodsmentioning

confidence: 99%

Power-Law Distribution of Long-Term Experimental Data in Swarm Robotics

Lecture Notes in Computer Science

Attar

Turgut

et al. 2015

Self Cite

Abstract. Bio-inspired aggregation is one of the most fundamental behaviours that has been studied in swarm robotic for more than two decades. Biology revealed that the environmental characteristics are very important factors in aggregation of social insects and other animals. In this paper, we study the effects of different environmental factors such as size and texture of aggregation cues using real robots. In addition, we propose a mathematical model to predict the behaviour of the aggregation during an experiment.

“…We show the maximum velocity of the shaft spinning with a macroscopic model of the utilized motors [23]:…”

Section: Motionmentioning

confidence: 99%

Colias: An Autonomous Micro Robot for Swarm Robotic Applications

International Journal of Advanced Robotic Systems

Murray

Zhang

et al. 2014

Self Cite

Robotic swarms that take inspiration from nature are becoming a fascinating topic for multi-robot researchers. The aim is to control a large number of simple robots in order to solve common complex tasks. Due to the hardware complexities and cost of robot platforms, current research in swarm robotics is mostly performed by simulation software. The simulation of large numbers of these robots in robotic swarm applications is extremely complex and often inaccurate due to the poor modelling of external conditions. In this paper, we present the design of a low-cost, open-platform, autonomous micro-robot (Colias) for robotic swarm applications. Colias employs a circular platform with a diameter of 4 cm. It has a maximum speed of 35 cm/s which enables it to be used in swarm scenarios very quickly over large arenas. Long-range infrared modules with an adjustable output power allow the robot to communicate with its direct neighbours at a range of 0.5 cm to 2 m. Colias has been designed as a complete platform with supporting software development tools for robotics education and research. It has been tested in both individual and swarm scenarios, and the observed results demonstrate its feasibility for use as a micro-sized mobile robot and as a low-cost platform for robot swarm applications.