[gp][final seminar][presentation]
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TRANSCRIPT
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Computer and Information Science | Computer Systems Department
Final Seminar 24/6/2013
Co-Swarm: Cooperative area exploration using a swarm of mobile robots June 2013 1Final Seminar
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• Team – Ahmed Mohamed Emad– Abdelrahman Ehab Soliman– Muhammed Aly Huessin– Anas Awad Ismail
• Academic Supervisors – Prof. Dr. Hossam El-Din Fahem– Dr. Wael S. El-Kilany– TA. Agwad Hammad
Team Members
Co-Swarm: Cooperative area exploration using a swarm of mobile robots June 2013 2Final Seminar
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• Overview :– Problem Definition – Previous Work
• Objective• Co-Swarm :
– System Architecture – Module_1 (Plan)– Module_2 (Sense)– Module_3 (Act)– Communication
• System Constraints• Experiments (Demo)• Conclusion and Future Work• References
Outline
Outline
Overview
ObjectiveCo-Swarm
System ConstraintsExperiments
Conclusion Future Work
References
Co-Swarm: Cooperative area exploration using a swarm of mobile robots June 2013 3Final Seminar
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Problem Definition“In Robotics, the exploration problem deals with the use of a
robot to maximize the knowledge over a particular area.
The exploration problem arises in mapping and search and
rescue situations, where an environment might be
dangerous or inaccessible to humans ”
Overview
Outline OverviewObjective
Co-Swarm System Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm: Cooperative area exploration using a swarm of mobile robots June 2013 4Final Seminar
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Problem Overview– The exploration problems appeared when the humans think
to use robots to discover unknown areas that may be dangerous or inaccessible for humans.
– Robot needs a map to operate in a particular environment.
– Autonomous Exploration : The ability of robots to autonomously travel around an unknown environment gathering the necessary information to obtain a useful map for navigation.
– Optimization Problem: NP-Complete Problem
Overview
Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
June 2013 5
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Previous Work• In absence of global position information,
(SLAM) techniques are deployed to construct a map.
• State of the art:– Classic non-coordinated strategies– Classic coordinated strategies– Integrated non-coordinated strategies – Integrated coordinated strategies
Overview
Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
June 2013 6
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Previous Work• In absence of global position information,
(SLAM) techniques are deployed to construct a map.
• State of the art:– Classic non-coordinated strategies– Classic coordinated strategies
• Frontier-Based Exploration using Multiple Robots – Brain Yamuchi 1998
– Integrated non-coordinated strategies – Integrated coordinated strategies
Overview
Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
June 2013 7
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What’s Swarm ?! • New bio-inspired approach to control the coordination of
(Multi-Robot System)MRS, which consists of large numbers of mostly simple physical robots.
• This collective behavior leads to the field of Artificial Swarm Intelligence.
Overview
Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-Swarm System Constraints
ExperimentsConclusion
Future WorkReferences
June 2013 8
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Why Swarm ?!• Simple and Elegant.– Can be represented by State Machine.
• Scalable.• Decentralized.• Usage of local interactions.
Overview
Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
June 2013 9
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“Speedup the area exploration mission using swarm of Mobile Robots”
Objective
Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline Overview
ObjectiveCo-Swarm
System ConstraintsExperimentsConclusion
Future WorkReferences
June 2013 10
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
• Robot Control Methodology (S-P-A)
Co-Swarm |System Architecture
June 2013 11
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Frontier-Based Exploration – Brain Yamuchi 1998
– Central Idea:• Gain the most new information about the world.• Move to the boundary between open space and
uncharted space.
Co-Swarm | Planning
June 2013 12
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Planning
June 2013 13
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Evidence Grid• Our Spatial Representation for the Environment.• A Cartesian Grid containing cells and each cell
contains its state whether it is Open , Occupied or unknown.
Frontier Detection• Frontiers are regions on the boundary between open
space and unexplored space.• A process analogous to edge detection and region
extraction in computer vision is used to find the boundaries between open space and unknown space.
Co-Swarm | Planning
June 2013 14
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Navigate to Frontiers• The robot attempts to navigate to the nearest
accessible unvisited frontier.• Motion Planning with Obstacle Avoidance.• Path Finding Algorithm A*.
Co-Swarm | Planning
June 2013 15
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Planning
June 2013 16
Frontier-Based Exploration (Single Robot)
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Planning
June 2013 17
Frontier-Based Exploration (Mutli-Robot)
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Co-Swarm |System Architecture
Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
June 2013 18
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm |System Architecture
June 2013 19
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Planning
June 2013 20
Self-Organizing Models–Mobility Sensor Models• Fully Coordinated Control Model.• Fully Random Model.• Emergent Motion Control.
– Flocking Algorithm.– Anti-Flocking Algorithm
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Planning
June 2013 21
Self-Organizing Models–Mobility Sensor Models• Fully Coordinated Control Model.• Fully Random Model.• Emergent Motion Control.
– Flocking Algorithm.
–Anti-Flocking Algorithm
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Planning
June 2013 22
Anti-Flocking Algorithm
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Planning
June 2013 23
Critical Cases Handling – More than one robot navigate to the same
frontier.– Robot cuts the road of another one.
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Planning
June 2013 24
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Planning
June 2013 25
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Sensing
June 2013 26
Sensing the environment– Using PSD– Using Ultrasonic
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Sensing
June 2013 27
Sensing the environment– Using PSD– Using Ultrasonic
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Acting| Framework Design
June 2013 28
Motion Engine
Direction
Ultra Sonic PSD
Path Executor
Command interpreter
Serial Communication (USART)
PID Controller Motor Driver
Local Grid Generator
Message
Path[0] … Path[Length -1]
Reply
L_Grid[0] … L_Grid[Length -1]
Distance I , or Angle I Angle i
Requ
est f
or D
ist.
Distance
Request for Dist.
Speed
ENA. signal
Distance
Dis
tanc
e
Request for L_Grid .
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Acting| Framework
June 2013 29
Commands Interpreter Module–Message Splitting– Function Signature– Passing Parameters
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Acting| Framework
June 2013 30
Commands Interpreter Module
Path Executor
Command interpreter
Serial Communication (USART)
Local Grid Generator
Message
Path[0] … Path[Length -1]
Reply
L_Grid[0] … L_Grid[Length -1]
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Acting| Framework
June 2013 31
Path Executer Module– Fetch the next step and its direction.– Call the desired function
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Acting| Framework
June 2013 32
Path Executer Module
Motion Engine
Path Executor
Command interpreter
Path[0] … Path[Length -1]
Distance I , or Angle I
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Acting| Framework
June 2013 33
Local Grid Generator– Receive Request .– Uses the Motion Engine Module to move the
robot in a certain angle– Uses the PSD Sensor Adapter to explore robot
local area .– Returns the information about each cell in
robot local whether it is open or occupied.
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Acting| Framework
June 2013 34
Local Grid Generator
Local Grid Generator
Angle i
Requ
est f
or D
ist.
Dis
tanc
e
Motion Engine
PSD
Command interpreter
L_Grid[0] … L_Grid[Length -1] Request for L_Grid .
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Acting
June 2013 35
Motion Engine– Used for controlling robot motion in a specific
direction and for a given distance .– Or used to perform rotation operation on the
robot for a given angle– Motion Engine is responsible for obstacle
detection and avoidance by using the Ultra sonic sensor and PSD sensor .
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Acting
June 2013 36
Motion Engine
Motion Engine
Direction
Ultra Sonic PSD
Path Executor
PID Controller Motor Driver
Local Grid Generator
Distance I , or Angle I Angle i
Requ
est f
or D
ist.
Distance
Request for Dist.
Speed
ENA. signal
Distance
Dis
tanc
e
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Acting
June 2013 37
PID Controller– PID : It is a generic control loop feedback
mechanism (controller) widely used in industrial control systems, we used it to be able to control the wheels rotation of the robots with regular speed .
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Acting
June 2013 38
PID Controller
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Communication
June 2013 39
Due to use of External Brain:– Robot-To-Brain Communication (USART, Bluetooth)
– Brain-To-Brain Communication (Wireless Lan)
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Communication
June 2013 40
Data Exchange Scheme– Timelines
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Communication
June 2013 41
Robot BrainSTR (X,Y, Orientation)#
RDY#
GRD (Center, Size)#
LGD (X0 – Xsize-1) $
CTS#
UPD#
RQP (X,Y)#
PTH [0 … n]$
RDP #
.
.
.STP#
STP#
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
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Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Co-Swarm | Communication
June 2013 42
Brain Brain
BLG (X0 – Xsize-1) $
UPD#
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
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Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
System Constraints
June 2013 43
• Cell Size equal to Object Size (Fixed).• 4-direction Robot motion only.• Uncertainty in Localization.
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Experiments | Obstacle Detection/Avoidance
June 2013 44
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
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Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Experiments |Path Executer
June 2013 45
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
Outline OverviewObjective
Co-SwarmSystem Constraints
Experiments
Conclusion
Future WorkReferences
Conclusion
June 2013 46
• Using swarm with applying Anti-Flocking solves restrictions of frontier-based approach instead of using complex solutions like SLAM techniques.
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
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Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Future Work
June 2013 47
• Robot Motion Planning in Eight Directions using Voronoi diagram.
• Dynamic Path finding using D* Lite.• Monte-Carlo localization (Markov
localization).• Migration of the AI Agent to the Cloud
(Cloud Robotics).
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
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Co-SwarmSystem Constraints
ExperimentsConclusion
Future WorkReferences
Tools And Technologies
June 2013 48
• Exploration Simulator – C++/CLI, C# windows Application– Microsoft Visual Studio 2010
• Embedded Software (Robot Framework):– C on AVR Studio
• ASANAA: Team Management System
• Github, Bitbucket: Source Control.
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Co-Swarm: Cooperative area exploration using a swarm of mobile robotsFinal Seminar
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Co-SwarmSystem Constraints
ExperimentsConclusion
Future Work
References
References
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