Difference between revisions of "Plan Rehan O'Grady"
From IridiaWiki
Jump to navigationJump to search| Line 3: | Line 3: | ||
:Explore aspects of functional self assembly. |
:Explore aspects of functional self assembly. |
||
#Decision Process |
#Decision Process |
||
| − | #*Is self-assembly necessary |
+ | #*Is self-assembly necessary? |
#Structure |
#Structure |
||
| − | #*What is appropriate size for connected groups |
+ | #*What is appropriate size for connected groups? |
| − | #*What is appropriate shape for connected groups |
+ | #*What is appropriate shape for connected groups? |
#Behaviour |
#Behaviour |
||
#*What to do when connected (cooperative movement, transport, navigation, etc)? |
#*What to do when connected (cooperative movement, transport, navigation, etc)? |
||
| Line 24: | Line 24: | ||
#Application of above two mechanisms to hill passing problem |
#Application of above two mechanisms to hill passing problem |
||
#*Comparison of adaptive linear approach and blob approach |
#*Comparison of adaptive linear approach and blob approach |
||
| + | <br> |
||
==Short Term (End March 2006)== |
==Short Term (End March 2006)== |
||
Revision as of 11:41, 2 December 2005
Long Term - Phd Thesis
- Theory
- Explore aspects of functional self assembly.
- Decision Process
- Is self-assembly necessary?
- Structure
- What is appropriate size for connected groups?
- What is appropriate shape for connected groups?
- Behaviour
- What to do when connected (cooperative movement, transport, navigation, etc)?
- Timing
- When should swarm assemble?
- When should swarm disassemble?
- Practice
- Parametrised group size selection mechanism (2,3,4,..)
- Initially in a non-adaptive way
- Maybe in an adaptive way
- Parametrised Shape distinction mechanism
- Initially binary parameter - linear / blob (non-linear)
- Initially non-adaptive
- Maybe adaptive
- Maybe further parameterisable - control over what 'blob' looks like
- Application of above two mechanisms to hill passing problem
- Comparison of adaptive linear approach and blob approach
Short Term (End March 2006)
Goal
Conduct new experiment which builds on previous functional self-assembly experiment. Publish new results in conference (probably Ants2006). Combine new conference paper with ecal2005 paper and publish results in journal.
Experiment
- Environment
- Same as previous functional self assembly experiment.
- ?Robots started in a line one after the other - mimic ant trail?
- Task
- Two robots must navigate over hill towards target.
- When they encounter hill, they use adaptive rotation (adaptive to orientation of hill) to avoid toppling.
- Methods
- Reuse existing functional self assembly controller. (Published work)
- Develop adaptive (to hill orientation) control. (New work)
Misc Ideas
- Spend 1/2 weeks helping Lausanne disassemble / repair robots
- I get to learn more about robotic hardware
- Lausanne gets work done faster with extra pair of hands.
- Iridia gets skill transfer on hardware disassembly / repair.
