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Distributed Robotic Target Acquisition using
Bluetooth Communication
J.T. McClain, B.J. Wimpey, D.H. Barnhard, and W.D. PotterArtificial Intelligence CenterThe University of Georgia
Athens, Georgia
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Introduction Goals
Solve a team-based “search and destroy” task
Develop a robust chassis for multi-robot teams
Create a method for distributed message passing within a robotic network
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Odin and Hodur Preliminary project
Primary goal was to develop the communication system
Honeybee Task Localization Architecture prototyping
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Current Phase
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Hardware The Collective
multi-robot system A team of modified
Motorworks radio-controlled tanks
Sensory facilities include four sonar rangers, magnetic compass, and four light intensity sensors
Actuators include two independently driven treads and a firing mechanism
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Hardware Robot Controller Network
The primary controller on each robot is a Bluetooth enabled Compaq iPAQ 3970 (Pocket PC 2002)
Primitive sensor and actuator functions are handled by a network of two microcontrollers, an Acroname Brainstem GP 1.0 and a Brainstem Moto 1.0
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HardwareB
rain
stem
Bra
inst
em
GP (Router)
Moto
iPAQ/Brainstem Control Network
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Hardware Overview
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Sensor Overview
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Hardware The Bluetooth Wireless Protocol
A proprietary wireless protocol that is intended to create a short-range radio link between electronic devices
Primarily used as a wireless desktop solution due to its relatively short range of approximately 30 feet
Characterized by robustness, low complexity, low power, high data transmission speed, security, and low cost
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Communications Previous Version
In the Odin and Hodur model, a loss of one robot would result in mission failure
Current Version Use of Routing Information Protocol
(RIP) prevents this problem Sends a “heartbeat” at regular intervals Keeps all robots informed of the status
of the others
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Behavior Distributed Search
As the process begins, all robots are searching for the target
Discovery Once the target has been found,
localization begins After localization, the coordinates of
the target are passed to the other robots
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Behavior Formation
Once the target is found, the robot that first acquired the target is considered a leader
It is the leader’s responsibility to determine the placement of the other tanks
Based upon the number of robots that are still “alive” in the status table
Dependent on the location in the environment
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Conclusion and Future Directions
Preliminary results indicate that cooperating tanks are a viable option for a distributed search
Future Work Dynamically tracking moving targets Improved strategic planning Better localization scheme