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DISTRIBUTED INTELLIGENT SYSTEMS
PRESENTATION
Sarah Bonaly, Julien Calabro, Louis Munier, Mohammed-Ismail Ben Salah
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Introduction
• The aim of this project is to use e-pucks in order to develop a flocking behavior
while avoiding obstacles.
• The various developed strategies should be performed in simulation on webots and
adapted on the real e-pucks.
• Two scenarios sould be implemented :
• One flock avoiding obstacles
• Two flocks avoiding each other
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Subdivision
■ Project segmented in four parts:
– Flocking behavior:
– Communication: transmission of information.
– Localization: not be lost.
– Analysis: evaluate the solution.
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Flocking strategyReynolds’rulesThree rules:
• Separation: robots should not be too close
• Alignment: robots should go to the same direction
• Cohesion: robots should not be too far
Specificities:
• Same coordinate system for all robots
• Relative distances and speeds
Separation
Alignment
Cohesion
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e-puck 0
e-puck 1 e-puck 2message
Send
Send
SendReceive
Receive
Receive
Communication strategyon simulation
• Each robot has an ID number given by the
selector.
• This identifier defines the order of
communication
• It’s a sequential communication each
robot will emit and receive one after the
other
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Communication strategyon the real e-pucks
• Informations:
• The ID.
• The distance of the emitter.
• The angle of the emitter from the receiver.
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Communication strategyon the real e-pucks
• Informations:
• The ID.
• The distance of the emitter.
• The angle of the emitter from the receiver.
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Communication strategyon the real e-pucks
• Informations:
• The ID.
• The distance of the emitter.
• The angle of the emitter from the receiver.
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Communication strategyon the real e-pucks
• Informations:
• The ID.
• The distance of the emitter.
• The angle of the emitter from the receiver.
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Obstacle avoidanceVirtual force[1]
Concept
• Virtual force
• Sum of these forces is applied
[1] Ali E. Turgut, Hande elikkanat, Fatih Gke and Erol Sahin, Self-c Springer Science +organized flocking in mobile robot swarms Business Media, LLC
2008.
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Obstacle avoidance
Implementation
• Threshold
• Angles taken from e-puck datasheet
• Noise
• Inertia
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Obstacle avoidanceResults
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Odometry on real e-pucksFrame sharing
• At init. e-puck 0 is taken as the (0,0)
of the X-Y frame and communicate with
others members of the flock
• Other e-pucks therefore
adjust their odometry given
the direction and the distance of the signal
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Odometry on real e-pucksPosition estimation
• E-puck has motor encoders that give us
how many steps were done in one cycle
• The motor command is given by the
flocking behavior
• Allows us to know the displacement X-Y
frame
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• E-puck has motor encoders that give us
how many steps were done in one cycle
• The motor command is given by the
flocking behavior
• Allows us to know the displacement X-Y
frame
Odometry on real e-pucksPosition estimation
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OdometryReal observations
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ResultsSimulations
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ResultsReal case
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Questions ?
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Sources
■ Course Distributed Intelligent System, Alcherio Martinoli – EPFL, 2018
■ Ali E. Turgut, Hande elikkanat, Fatih Gke and Erol Sahin, Self-c Springer Science +organized flocking in mobile robot swarms Business Media, LLC 2008.