Wireless Networks for Multi-Robot CommunicationsProject PurposeWhat is a Sensor Network?Advantages of Sensor NetworksJobs of Sensor NetworkDesign ProblemExisting ImplementationsTinyOS and TinyDBRFID TagsDesign ConstraintsSlide 11Feasibility StudyPowerPoint PresentationSurvey of ProductsAmigoBotKheperaTrilobotHexapodBoebotBudgetDesign ValidationSearch and CommunicatePutting it all TogetherSlide 24ComplicationsWireless Networks for Multi-Robot CommunicationsCreating a Sensor Network of Robots.Project PurposeCreate a sensor network of robots that, together, achieve a shared goal.What is a Sensor Network?A sensor network contains multiple devices.Each device has devices on it that can sense conditions of the outside world, or sensors.Each device communicates to other devices in order to achieve a shared goal.Advantages of Sensor NetworksJobs can be complete with large numbers of units in parallelRedundancy: Each unit of the network can be destroyed with little to no damage to the network as a wholeJobs of Sensor NetworkSurveillance: Sensor network can cover a large are, and collate the data before it reaches the userSearch: Sensor networks can cover multiple parts simultaneously for quicker results.Remote Monitoring and ControlDesign Problem Develop a wireless communication network for multi-robot teams. This network, preferably made with radio frequency transceivers, plus the on board sensors of the robots themselves, will form a sensor network, in order to locate a light source.Existing ImplementationsDARPA has sponsored a project for “smart dust”: a sensor network of thousands all small enough to float in the wind, to be used for surveillance.TinyOS and TinyDBPart of the DARPA project is the creation of an embedded operating system to run units on the sensor network, called TinyOS, and a data gathering utility, TinyDBRFID TagsThese tags are small devices that transmit an ID number when hit with a radio frequency.Design ConstraintsThe project must…Maneuver around objects. Search for target.Realize it has found target.Signal other robots.Search for robot that signals.Wait for turn to communicate.Not interfere or be interfered with in terms of RF communications.Design ConstraintsThe project should…Be easy to modify system behavior.Be easy to interface.Use parts and tools readily available.Sense obstacles to avoid contact.Use small enough area to ensure the RF transmitters can reach all distances.Feasibility StudyShow the project is physically, technically, and economically feasible in the time available. Similar projects have been successfully completed.Can use past projects for guidelines and ideas. Budget is within reason.Using mature technologies such as RF and photocells. Easy to interface with robots.Timeline3 4 5 6 7 8 9 10 11 12 13 14 15 16PresentationTestingIntegrateRF SoftwareIntegrateSearching SoftwareInitial movement of BotsBuild BotsParts ListProposalWeekSurvey of ProductsAmigoBot (ActiveMedia)Khepera (K-Team)Trilobot (Arrick Electronics)Hexapod (LynxMotion)Boebot (Parallax)AmigoBotComes with battery and battery chargerComes with AmigoOS and AmigoBot User GuideGreat Indoor/Outdoor rangeComes with various packages (e.g. Wirefree)Too ExpensiveKheperaNot Enough Payload to add on RF productsShorter whiskers than BoebotLight, compact designLimited kits availableTrilobotHeaviest of all robots8 whiskers around base4 light level sensorsDigital tempature sensorEngineered for easy expansionOnce again…HexapodNever specified payloadLacking Documentation and manualsAffordable PriceBoebotComes with BasicStamp2Get Full Kit with each robot purchaseExtensive Documentation and very adaptablePrice is right!BudgetProduct Quantity PriceBoebot Full Kit 5 1145.00(w/shipping) 1157.28Transmitter (TWS-434) 5 38.25 Receiver (RWS-434) 5 38.25433 MHz Antenna 5 45.00(w/shipping) 130.84Alkaline Batteries (AA) 100.00Total Cost 1388.12Design ValidationTest servos, whiskers, photoresistors, and IR subsystem individually as outlined in Boe-Bot manualIntegrate and test servos, whiskers, photoresistors, and IR subsystemSearch and CommunicateImplement and test random search for light using single Boe-BotImplement and test patterned search for light using single Boe-BotImplement and test RF communication between two Boe-BotsDevelop, implement, and test a communication protocol for multiple Boe-BotsPutting it all TogetherCombine communication protocol with individual Boe-Bot random and pattern searchesBegin stepwise refinementDetermine which search is bestDetermine how close Boe-Bots should get to each other before moving away from each otherEnhance communication protocolProposal Choose partsOrder partsConnect servos to robotsBuild robotsGet robots movingConnect whiskersWrite and implement obstacle avoidance softwareConnect photocellsWrite and implement light sensing softwareConnect RF transmitter and receiverWrite and implement RF softwareWrite and implement networking protocolConnect IRWrite and implement IRWrite and implement object searchingWrite and implement object trackingCreate team(Optional – if time permits) Search and rescue lost robotsComplicationsTest with various objects blocking the searchTest with Boe-Bots being dynamically added and removed from the
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