Difference between revisions of "Plan Rehan O'Grady"
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;Theory |
;Theory |
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:Explore aspects of functional self assembly. |
:Explore aspects of functional self assembly. |
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| − | ==Short Term== |
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| − | ===Timescale=== |
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Conference paper writtern by end March 2006 |
Conference paper writtern by end March 2006 |
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| − | ===Goal=== |
+ | ====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. |
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. |
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| − | ===Experiment=== |
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;Environment |
;Environment |
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| − | ==Misc Ideas== |
+ | ===Misc Ideas=== |
*Spend 1 or 2 weeks helping Lausanne disassemble / repair robots |
*Spend 1 or 2 weeks helping Lausanne disassemble / repair robots |
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**I get to learn more about robotic hardware |
**I get to learn more about robotic hardware |
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Revision as of 10:01, 16 June 2006
Meeting 2nd 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
Timescale
Conference paper writtern by 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
- Similar to previous ecal2005 functional self assembly experiment.
- Except use three different hills to prove adaptive rotation mechanism.
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- 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)
- Trials
- 2 robots: 20 trials on each hill type. = 60 total.
- 3 robots (maybe): some trials needed to show blob behaviour doesn't change with different hill orientations.
Misc Ideas
- Spend 1 or 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.
