Difference between revisions of "Plan Rehan O'Grady"
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*Help Lausanne disassemble / repair robots - learn about hardware. Skills transfer for lab. |
*Help Lausanne disassemble / repair robots - learn about hardware. Skills transfer for lab. |
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Revision as of 17:05, 1 December 2005
Approach
- Design Experiment
- Fix experiment (Confirmation from Marco)
- Build Controller
- Do Experiment
- Publish
Long Term - Phd Theme
- 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?
Short Term (~End March 2006)
Goal
Conduct new experiment which builds on previous functional self-assembly experiment. Publish results of new experiment and functional self assembly experiment together in journal.
Experiment
- Environment
- Same as previous functional self assembly experiment.
- ?Robots started in a line one after the other - mimic ant trail?
- Goal
- Large group of robots must navigate over hill towards target.
- If they encounter hill, they aggregate into several two sbot swarmbots (using group size selection mechanism)
- The two-sbot swarmbots separately navigate the hill into the target zone. (using adaptive swarm rotation to avoid parallel approach)
- Methods
- Reuse existing functional self assembly controller. (Published work)
- Group size selection mechanism to form two sbot swarm bots. (Completely new work)
- Use adaptive swarm rotation mechanis to avoid parallel approach problem. (Previous unpublished work)
Medium Term (~September 2006)
- Goal
Further experimentation to add body to Phd / publish.
Experiment
- Goal
- Have sbots detect how difficult an obstacle is and form group size / group pattern accordingly.
- Task
- Cross Hole to get to target
- Start in two sbot swarm configuration.
- Detect hole. If hole is too big, join with other two sbot team. Form 4 sbot line.
- Method
- Use adaptive swarm rotation throughout.
- ?Detect alignment of hole?
Misc Ideas
- Help Lausanne disassemble / repair robots - learn about hardware. Skills transfer for lab.
