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In this work we propose a novel fully distributed approach to endow robots in a swarm with awareness of their relative position with respect to the rest of the swarm. Such spatial awareness can be used to support spatially differentiated task allocation or for pattern formation. In particular, we aim to partition the robots in the swarm in two (or more) distinct and spatially segregated groups. The distributed approach we propose only relies on local wireless communications and is based on a combination of distributed consensus and load balancing. We propose two metrics to measure the effectiveness of the obtained partitioning and we test the performance and the scalability of our algorithm in extensive simulation experiments. We also validate it in a small set of experiments with real robots.
Posted on: April 30, 2012
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The purpose of the demonstrator is to present a novel system for gesture-based interaction between humans and a swarm of mobile robots. The human interacts with the swarm by showing hand gestures using an orange glove. Following initial hand glove detection, the robots move to adapt their positions and viewpoints. The purpose is to improve individual sensing performance and maximize the gesture information mutually gathered by the swarm as a whole. Using multi-hop message relaying, robots spread their opinions and the associated confidence about the issued hand gesture throughout the swarm. To let the robots in the swarm integrate and weight the different opinions, we developed a distributed consensus protocol. When a robot has gathered enough evidence, it takes a decision for the hand gesture, and sends it into the swarm. Different decisions compete with each other. The one assessed with the highest confidence eventually wins. When consensus is reached about the hand gesture, the swarm acts accordingly, for example by moving to a location, or splitting into groups. The working of the system is shown and explained in the video accessible at the following address:http://www.idsia.ch/ gianni/SwarmRobotics/aamasdemo.zip.
Posted on: April 30, 2012
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The video presents the first results of a Swiss-funded project focusing on symbiotic peer-to-peer interaction and cooperation between humans and robot swarms. As a first step, we considered human-swarm interaction, and selected the use of hand gestures to let a human communicate with a swarm of relatively simple mobile robots. In our scenario, a hand gesture encodes a command, that the swarm will execute. The robots that we used are the foot-bots, developed in the Swarmanoid project [1].
Posted on: April 30, 2012
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We present the hardware and reconfiguration experiments for an autonomous self-reconfigurable modular robot called Roombots (RB). RB were designed to form the basis for self-reconfigurable furniture. Each RB module contains three degrees of freedom that have been carefully selected to allow a single module to reach any position on a 2-dimensional grid and to overcome concave corners in a 3-dimensional grid. For the first time we demonstrate locomotion capabilities of single RB modules through reconfiguration with real hardware. The locomotion through reconfiguration is controlled by a planner combining the well-known D* algorithm and composed motor primitives. The novelty of our approach is the use of an online running hierarchical planner closely linked to the real hardware.
Posted on: April 26, 2012
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Domestic service robots are currently powered by the mains electricity. The growing multiplication of such devices negatively impacts our environment. In this study, we show the feasibility of harvesting energy from natural light in an indoor environment. The design of the harvester is carefully carried out using an experimental characterisation of several solar panels, while the boost converter is optimised to operate at low-light intensities and the robot is enhanced for low-power operations. The resulting harvester is then thoroughly characterised. Finally, a phototaxis experiment is conducted, proving the feasibility of recharging the robot solely by using this form of energy. The possibility of embedding energy harvesting in indoor mobile robots radically changes the potential impact of this technology in our society.
Posted on: April 10, 2012
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It is often challenging to manage the battery supply when dealing with a fleet of mobile robots during long experiments. If one uses classical recharge stations, then agents are immobilized during the whole recharge process. In this study, we present a novel approach that employs a battery pack swapping station. Batteries are charged in a rotating barrel, and the robots dock only for the time of the hot-swap process. We attained an unavailability time of only 40 seconds, with a success rate of 100 % on a total of 46 trials. Experiments above 8 hours are performed in three arenas with different configurations, which proves the relevance of our approach.
Posted on: April 10, 2012
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Rehabilitation robots allow for a longer and more intensive locomotor training than that achieved by conventional therapies. Robot-assisted treadmill training also offers the ability to provide objective feedback within one training session and to monitor functional improvements over time. This article provides an overview of the technical approach for one of these systems known as “Lokomat” including new features such as hip ab/adduction actuation, cooperative control strategies, assessment tools, and augmented feedback. These special technical functions may be capable of further enhancing training quality, training intensity, and patient participation.
Posted on: March 22, 2012
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This paper presents the actuation system of the robotic leg ScarlETH. It was developed specifically for a quadrupedal robot and is designed to achieve fast position control as well as accurate joint torque control. It introduces strong passive dynamics to create an efficient running behavior. High spring compliance with low damping in combination with a cascaded, motor velocity based, control structure was successfully tested in simulation and experiments. Final tests with the entire leg demonstrate that the system can perform a hopping motion providing only positive actuator power.
Posted on: March 22, 2012
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Posted on: March 22, 2012
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Posted on: March 22, 2012
