The Pi-puck extension board: A raspberry Pi interface for the e-puck robot platform

Millard, Alan G.; Joyce, Russell; Hilder, James A.; Fleseriu, Cristian; Newbrook, Leonard; Li, Wenyuan; McDaid, Liam; Halliday, David M.

doi:10.1109/iros.2017.8202233

Cited by 20 publications

(19 citation statements)

References 17 publications

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“…The e-puck 2 uses the same proximity sensors and measuring circuit as the original version. 15 It should be noted that SwarmCom can be outperformed, at least in bit rate (up to 5000 bps) and communication range (up to 600 cm), by dedicated communication hardware, such as the e-puck range and bearing board (Gutiérrez et al 2008(Gutiérrez et al , 2009aMillard et al 2017). These solutions, however, add additional costs, weight, and energy demand to the default platform.…”

Section: Resultsmentioning

confidence: 99%

SwarmCom: an infra-red-based mobile ad-hoc network for severely constrained robots

et al. 2019

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Swarm robotics investigates groups of relatively simple robots that use decentralized control to achieve a common goal. While the robots of many swarm systems communicate via optical links, the underlying channels and their impact on swarm performance are poorly understood. This paper models the optical channel of a widely used robotic platform, the e-puck. It proposes SwarmCom, a mobile ad-hoc network for mobile robots. SwarmCom has a detector that, with the help of the channel model, was designed to adapt to the environment and nearby robots. Experiments with groups of up to 30 physical e-pucks show that (i) SwarmCom outperforms the state-of-the-art infra-red communication software-libIrcom-in range (up to 3 times further), bit error rate (between 50 and 63% lower), or throughput (up to 8 times higher) and that (ii) the maximum number of communication channels per robot is relatively low, which limits the load per robot even for high-density swarms. Using channel coding, the bit error rate can be further reduced at the expense of throughput. SwarmCom could have profound implications for swarm robotics, contributing to system understanding and reproducibility, while paving the way for novel applications. Keywords Swarm robotics • MANET • Infra-red communication • Channel model • e-puck • libIrcom S.M. Trenkwalder is a recipient of a DOC Fellowship of the Austrian Academy of Sciences. This is one of the several papers published in Autonomous Robots comprising Special Issue on Robot Communication Challenges: Real-World Problems, Systems, and Methods.

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Section: Resultsmentioning

confidence: 99%

SwarmCom: an infra-red-based mobile ad-hoc network for severely constrained robots

et al. 2019

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“…The Robot Platform. The experiments are conducted using a swarm of up to N = 10 Pi-puck robots [10]. Pi-pucks are e-puck robots extended by a Raspberry Pi Zero W single board computer.…”

Section: Experimental Scenariomentioning

confidence: 99%

“…In this work we give a first answer to the above questions by presenting an experimental setup consisting of Pi-puck robots [10] which maintain a proof-ofauthority blockchain network and communicate through a mobile ad-hoc network. The chosen robot platform-the Pi-puck-is a reasonable choice due to the low cost and easy availability of the Pi-pucks, and to their support for Linux that allows the easy installation of the blockchain software-Ethereum in our case.…”

Section: Introductionmentioning

confidence: 99%

A Blockchain-Controlled Physical Robot Swarm Communicating via an Ad-Hoc Network

Pacheco

Strobel

Dorigo

2020

Lecture Notes in Computer Science

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We present a robot swarm composed of Pi-puck robots that maintain a blockchain network. The blockchain serves as security layer to neutralize Byzantine robots (faulty, malfunctioning, or malicious robots). In the context of this work, we implemented a framework for highthroughput communication using a decentralized mobile ad-hoc network. This work serves as a building block for secure real-world deployments of robot swarms. Our results show that the use of a blockchain is feasible and warranted in embodied robot swarm deployments.

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“…UAVs maintain a 1.5 m altitude, after taking off at the start of an experiment. The ground robot model is an extended e-puck [14,8,13] We run experiments (video available 1 ) for formation establishment, obstacle avoidance, fault tolerance, and scalability. We define and use nine target formations (F1-F9, see Fig.…”

Section: Experiments Setupmentioning

confidence: 99%

Formation Control of UAVs and Mobile Robots Using Self-organized Communication Topologies

Zhu

Allwright

Heinrich

et al. 2020

Lecture Notes in Computer Science

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Formation control in a robot swarm targets the overall swarm shape and relative positions of individual robots during navigation. Existing approaches often use a global reference or have limited topology flexibility. We propose a novel approach without these constraints, by extending the concept of 'mergeable nervous systems' to establish distributed asymmetric control via a self-organized wireless communication network. In simulated experiments with UAVs and mobile robots, we present a proof-of-concept for three sub-tasks of formation control: formation establishment, maintenance during motion, and deformation. We also assess the fault tolerance and scalability of our approach.

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The Pi-puck extension board: A raspberry Pi interface for the e-puck robot platform

Cited by 20 publications

References 17 publications

SwarmCom: an infra-red-based mobile ad-hoc network for severely constrained robots

SwarmCom: an infra-red-based mobile ad-hoc network for severely constrained robots

A Blockchain-Controlled Physical Robot Swarm Communicating via an Ad-Hoc Network

Formation Control of UAVs and Mobile Robots Using Self-organized Communication Topologies

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