1CPSC 483 Senior Design Project ProposalWireless Networks for Multi-Robot CommunicationsMatt Crotts, Kenny McNutt, Clay Oehlke, Jeremy VernonPurposeWe request funds and advising from professor and teaching assistants in order to developa wireless communication network for multi-robot teams. This network will allow therobots to function as a sensor array, in order to function to a singular purpose: the findingof an object. Specifically, the robots will communicate using radio frequency, or RF.BackgroundMany projects that involve the use of robots involve more than one robot. In order to do ajob, these robots must work in parallel. The need for these robots to be able tocommunicate with each other has led to the development of sensor networks.A sensor is a device that produces a measurable response to a change in a physicalcondition. A sensor network is a series of robots that contain sensors, and use the resultsfrom these sensors, and communication with each other, to achieve some shared goal.Many times sensor networks are distributed, meaning that all of the robots share duties.Many network communication are on a client server setup, where one side gives2directives to another. A distributed is communication among equals. There is no onesingle error that can take down the system. Any single unit can be disabled, but thenetwork itself will continue to function.Many applications benefit from such sensor networks. A network of robots can cover alarge area, with each robot going in a different direction. A faster solution can be found ifmore than one path is taken at the same time, as with a sensor network. A groups ofrobots is also less prone to total failure, for if one robot breaks down, the rest can stillcomplete the objective. This makes sensor networks ideal for search and retrievalmissions, where their large coverage and constant communications mimic that of ahuman search party.There are also some problems with sensor networks. The largest hurdle is the requirementto be able to constantly communicate with other, while mobile. This makes both line ofsite transmission systems, like infrared, and wire based solutions unfeasible. Thiscommunication must also be set up on the fly, as machines should able to enter and exitthe communication process at any time.The robots must also be cognizant of the other robots, and at least their relative positionto it, in order to be able to effectively share information about their surroundings. It is notenough to know that x robot has found the objective. In order to use this information, itmust know the location of the other robot.Communication itself poses some challenges. If the robots are not in close contact witheach other, messages must be passed from one robot to another in order to route them to aspecific robot. When we add to this the fact that any one node can fail at any time, thisleads to problems.3Problem StatementDevelop a wireless communication network for multi-robot teams. This network,preferably made with radio frequency transceivers, plus the on board sensors of therobots themselves, will form a sensor network, in order to locate a light source.This will require the following:1. A wireless communication system for multiple small robot micro controllers.2. Schematic diagrams, parts list and instructions to assemble the system.3. Project documentation, as described in the course syllabus.4. A live demonstration of the robot in action.The system is the main part of the project. It includes the robots, network protocols, andsoftware running the robot. This should all be in both written form and on the robotsthemselves.The schematics and instructions should be clear enough so that anyone who wanted torecreate the project could so easily. It is meant as aThe documentation should cover the process of building the robot, as well as evaluationson process and management style. It should include a copy of this proposal, a user’smanual for operating the robots, and comments on the success or failure of the project.4The demonstration will be done at the end of the project, and will show the robots inaction. This should be somewhat visual, as people outside the class will be observing it.Design ConstraintsThe “wireless networks for multi-robot communications” project consists ofrequirements or goals that either must be or should be followed. Constraints that must bestrictly adhered to are listed under the “must” category. Conditions that should be at leastconsidered but are not deemed critical to the application of the project are listed in the“should’s”.This project must:• Maneuver around obstacles. When an obstacle is encountered, the robot shouldtake action to avoid a dead stop. Solutions include but are not limited to infraredsensors, feeling whiskers, object recognizing cameras, and ultrasonic radar.• Be able to navigate independently of other robots. Each robot must have theability to search independently of the others. Also, it must have some sort ofnavigational protocol such as random pattern, expanding circle, or straight linesuntil a barrier is encountered.• Search for a user specified target such as a light. Each robot has to be able tosearch for and find some predetermined target.5• Realize when it has found item or other robot. The robots must know when it isclose enough to the target or, if searching for a light, must determine when thebrightness of the light is satisfactory.• Signal the other robots when the target is found. The discovering robot shouldsend out a broadcast that it discovered the target.• Search for the robot that signals it has found the target. At that point it mustsupply some sort of tracking mechanism for the other robots to find its currentlocation.• Not all communicate simultaneously. A protocol must be developed which willallow the robots to listen prior to broadcasting. When the airwaves are clear, therobot may speak. If multiple robot attempt to speak at exactly the same time, therobots can wait for a random amount of time and attempt to rebroadcast.• Not interfere or be interfered with in terms of RF communications. Surroundingwireless networks, telephones, and other electronic devices must be consideredwhen choosing the frequency of the RF transceivers.This project should:• Allow the designers to easily modify the system behavior. Because of thecomplexity involved with communicating among multiple nodes, the designershould not get bogged