PRE2015 2 Groep1

Group 1: Universal Swarm Robotics Software Project

Swarm robotics is a new approach to the coordination of multirobot systems which consist of large numbers of mostly simple physical robots. It is supposed that a desired collective behavior emerges from the interactions between the robots and interactions of robots with the environment.

Goal

The goal of this project is to create a framework for rescue swarm robots. This project will focus on designing the hardware and developing the software. Our first idea was to use freeduino based robots as hardware, however after some thought and discussion Lego Mindstorms Robots will be used. The software consists of the robot control software and a simulation. Using swarm robotics allows us to coordinate a large group of rescue robots. To asses the result a final scenario will be created.

Summary of activities arranged by week

Week 1

• Some brainstorming was done to come up with an idea for this project. Swarm behavior for robots has gotten the attention and a goal is set, this goal of the project is explained above.
• Also a start of the litarature study is made, in order to check what technology is already available and how this is adaptable for our final scenario.

Week 2

• In the second week a presentation was given regarding our current goal and findings of the past week.
• Also the USE principles regarding our project were examinated.
• The litarature study was also expended during this week in the progress.

Week 3

• Because of the feedback regarding our last presentation more litarature study has been done.
• Furthermore, from this literature study, an early idea for a solution is conceived.
• A list of needed materials is composed (see freeduino based robots).
• The final scenario is further specified.
• The actual real-world scenario is described.
• Also the link between the USE principles and the configuration of the Freeduino based robots has been made.

Week 4

• A planning with specific tasks per student is made, see planning group 1
• A log will be kept so progress can be monitored.
• Lego Mindstorms Robots will be used instead of the freeduino based robots.
• A first (toplevel) simulation is written: toplevel simulation

Week 5

• This week the new Robots with the NXT Bricks are obtained and built.
• Software for programming is downloaded, see Software NXT Robots.
• A start with the search algorithm for the pathing of the robots has been made.
• Programming of the communication and behaviour of the NXT Robots has been started.

Week 6

• Programming has been done, in cooperation with some useful forum links for programming

Week 7

• Second week of the Christmas Holiday.

Week 8

• The localisation of the NXT Robots is programmed.