Spider Bots: A Low Cost Platform for Testing and Validating Cooperative Control Algorithms

Author(s):  
Jack Price ◽  
Damien Laird ◽  
Ioannis Raptis

A primary factor limiting the development, testing, and validation of decentralized algorithms for large-scale multi-robot teams is the high cost of the available systems. When a successful test necessitates that an algorithm functions on dozens or even hundreds of robots simultaneously, a low price tag on each robot is crucial. This paper presents Spider-Bots, a low cost platform for testing and validating control algorithms for multi-robot swarms. The platform is comprised of centimeter-scale mobile robots that can communicate wirelessly and interact with their environment, along with easy to use software libraries. The resulting platform was validated by testing its ability to execute and record data from three separate algorithms: Set-point navigation, object manipulation, and collision avoidance.

Robotica ◽  
2013 ◽  
Vol 32 (2) ◽  
pp. 257-277 ◽  
Author(s):  
Seung-kook Yun ◽  
Daniela Rus

SUMMARYThis paper presents decentralized algorithms for coverage with mobile robots on a graph. Coverage is an important capability of multi-robot systems engaged in a number of different applications, including placement for environmental modeling, deployment for maximal quality surveillance, and even coordinated construction. We use distributed vertex substitution for locational optimization and equal mass partitioning, and the controllers minimize the corresponding cost functions. We prove that the proposed controller with two-hop communication guarantees convergence to the locally optimal configuration. We evaluate the algorithms in simulations and also using four mobile robots.


2017 ◽  
Vol 8 (2) ◽  
pp. 19-40
Author(s):  
Gregory A Bock ◽  
Ryan T Hendrickson ◽  
Jared Allen Lamkin ◽  
Brittany Dhall ◽  
Jing Wang ◽  
...  

In this paper, we present the experimental testing results of distributed cooperative control algorithms for multiple mobile robots with limited sensing/communication capacity and kinematic constraints. Rendezvous and formation control problems are considered, respectively. To deal with the inherent kinematic constraints with robot model, the input/output linearization via feedback is used to convert the nonlinear robot model into a linear one, and then the distributed cooperative control algorithms are designed via local information exchange among robots. Extensive experiments using Quanser's QBot2 mobile robot platforms are conducted to validate the effectiveness of the proposed distributed cooperative control algorithms. Specifically, the robot's onboard Kinect vision sensor is applied to solve the localization problem, and the information exchange is done through an ad-hoc peer-to-peer wireless TCP/IP connection among neighboring robots. Collision avoidance problem is also addressed based on the utilization of fuzzy logic rules.


2020 ◽  
pp. 743-764
Author(s):  
Gregory A Bock ◽  
Ryan T Hendrickson ◽  
Jared Allen Lamkin ◽  
Brittany Dhall ◽  
Jing Wang ◽  
...  

In this paper, we present the experimental testing results of distributed cooperative control algorithms for multiple mobile robots with limited sensing/communication capacity and kinematic constraints. Rendezvous and formation control problems are considered, respectively. To deal with the inherent kinematic constraints with robot model, the input/output linearization via feedback is used to convert the nonlinear robot model into a linear one, and then the distributed cooperative control algorithms are designed via local information exchange among robots. Extensive experiments using Quanser's QBot2 mobile robot platforms are conducted to validate the effectiveness of the proposed distributed cooperative control algorithms. Specifically, the robot's onboard Kinect vision sensor is applied to solve the localization problem, and the information exchange is done through an ad-hoc peer-to-peer wireless TCP/IP connection among neighboring robots. Collision avoidance problem is also addressed based on the utilization of fuzzy logic rules.


1987 ◽  
Vol 19 (5-6) ◽  
pp. 701-710 ◽  
Author(s):  
B. L. Reidy ◽  
G. W. Samson

A low-cost wastewater disposal system was commissioned in 1959 to treat domestic and industrial wastewaters generated in the Latrobe River valley in the province of Gippsland, within the State of Victoria, Australia (Figure 1). The Latrobe Valley is the centre for large-scale generation of electricity and for the production of pulp and paper. In addition other industries have utilized the brown coal resource of the region e.g. gasification process and char production. Consequently, industrial wastewaters have been dominant in the disposal system for the past twenty-five years. The mixed industrial-domestic wastewaters were to be transported some eighty kilometres to be treated and disposed of by irrigation to land. Several important lessons have been learnt during twenty-five years of operating this system. Firstly the composition of the mixed waste stream has varied significantly with the passage of time and the development of the industrial base in the Valley, so that what was appropriate treatment in 1959 is not necessarily acceptable in 1985. Secondly the magnitude of adverse environmental impacts engendered by this low-cost disposal procedure was not imagined when the proposal was implemented. As a consequence, clean-up procedures which could remedy the adverse effects of twenty-five years of impact are likely to be costly. The question then may be asked - when the total costs including rehabilitation are considered, is there really a low-cost solution for environmentally safe disposal of complex wastewater streams?


BMC Biology ◽  
2019 ◽  
Vol 17 (1) ◽  
Author(s):  
Amrita Srivathsan ◽  
Emily Hartop ◽  
Jayanthi Puniamoorthy ◽  
Wan Ting Lee ◽  
Sujatha Narayanan Kutty ◽  
...  

Abstract Background More than 80% of all animal species remain unknown to science. Most of these species live in the tropics and belong to animal taxa that combine small body size with high specimen abundance and large species richness. For such clades, using morphology for species discovery is slow because large numbers of specimens must be sorted based on detailed microscopic investigations. Fortunately, species discovery could be greatly accelerated if DNA sequences could be used for sorting specimens to species. Morphological verification of such “molecular operational taxonomic units” (mOTUs) could then be based on dissection of a small subset of specimens. However, this approach requires cost-effective and low-tech DNA barcoding techniques because well-equipped, well-funded molecular laboratories are not readily available in many biodiverse countries. Results We here document how MinION sequencing can be used for large-scale species discovery in a specimen- and species-rich taxon like the hyperdiverse fly family Phoridae (Diptera). We sequenced 7059 specimens collected in a single Malaise trap in Kibale National Park, Uganda, over the short period of 8 weeks. We discovered > 650 species which exceeds the number of phorid species currently described for the entire Afrotropical region. The barcodes were obtained using an improved low-cost MinION pipeline that increased the barcoding capacity sevenfold from 500 to 3500 barcodes per flowcell. This was achieved by adopting 1D sequencing, resequencing weak amplicons on a used flowcell, and improving demultiplexing. Comparison with Illumina data revealed that the MinION barcodes were very accurate (99.99% accuracy, 0.46% Ns) and thus yielded very similar species units (match ratio 0.991). Morphological examination of 100 mOTUs also confirmed good congruence with morphology (93% of mOTUs; > 99% of specimens) and revealed that 90% of the putative species belong to the neglected, megadiverse genus Megaselia. We demonstrate for one Megaselia species how the molecular data can guide the description of a new species (Megaselia sepsioides sp. nov.). Conclusions We document that one field site in Africa can be home to an estimated 1000 species of phorids and speculate that the Afrotropical diversity could exceed 200,000 species. We furthermore conclude that low-cost MinION sequencers are very suitable for reliable, rapid, and large-scale species discovery in hyperdiverse taxa. MinION sequencing could quickly reveal the extent of the unknown diversity and is especially suitable for biodiverse countries with limited access to capital-intensive sequencing facilities.


Author(s):  
Tingguang Li ◽  
Danny Ho ◽  
Chenming Li ◽  
Delong Zhu ◽  
Chaoqun Wang ◽  
...  
Keyword(s):  

Robotica ◽  
2021 ◽  
pp. 1-18
Author(s):  
Majid Yekkehfallah ◽  
Ming Yang ◽  
Zhiao Cai ◽  
Liang Li ◽  
Chuanxiang Wang

SUMMARY Localization based on visual natural landmarks is one of the state-of-the-art localization methods for automated vehicles that is, however, limited in fast motion and low-texture environments, which can lead to failure. This paper proposes an approach to solve these limitations with an extended Kalman filter (EKF) based on a state estimation algorithm that fuses information from a low-cost MEMS Inertial Measurement Unit and a Time-of-Flight camera. We demonstrate our results in an indoor environment. We show that the proposed approach does not require any global reflective landmark for localization and is fast, accurate, and easy to use with mobile robots.


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