flocks of robots coordinated multi-robot systems
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Flocks of RobotsCoordinated Multi-robot Systems
Dylan A. ShellDistributed AI Robotics Lab Department of
Computer Science & Engineering Texas A&M University
Introduction to Computing: CSCE181, 28th Feb 2012
Motivation Let’s start with a practical application
Motivation
We wish to exploit the mobility of multiple inexpensive robots to provide dynamically reconfigurable and robust communication infrastructure
• Ten to twenty simple robots• Limited sensing• Connect moving sources to a gateway
Motivation (cont.)Integrated solution involved:• Initial Mesh Network Formation– Establish connection & break-out behaviors
• Throughput Optimization– Smart “Wiggling”
• Robustness– Bi-connectivity– Self-healing behavior
• Development work– Custom ad hoc routing: OLSR– Simulation
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