Difference between revisions of "Plan Rehan O'Grady"

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==Approach==
  
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#Design Experiment
  
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#Fix experiment (Confirmation from Marco)
  
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#Build Controller
  
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#Do Experiment
  
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#Publish
  
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==Long Term - Phd Theme==
  
==Long Term - Phd Theme==
  +
;Theory
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;Explore aspects of functional self assembly.
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:Explore aspects of functional self assembly.
 
#Decision Process
  
#Decision Process
 
#*Is self-assembly necessary
  
#*Is self-assembly necessary
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#*When should swarm disassemble?
  
#*When should swarm disassemble?
   
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;Practice
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#Parametrised group size selection mechanism (2,3,4,..)
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#*Initially in a non-adaptive way
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#*Maybe in an adaptive way
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#Parametrised Shape distinction mechanism
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#*Initially binary parameter - linear / blob (non-linear)
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#*Initially non-adaptive
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#*Maybe adaptive
  +
#*Maybe further parameterisable - control over what 'blob' looks like
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#Application of above two mechanisms to hill passing problem
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#*Comparison of adaptive linear approach and blob approach
   
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==Short Term (~End March 2006)==
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==Short Term (End March 2006)==
   
 
===Goal===
  
===Goal===
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Conduct new experiment which builds on previous functional self-assembly experiment. Publish results of new experiment and functional self assembly experiment together in journal.
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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===
  
===Experiment===
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*?Robots started in a line one after the other - mimic ant trail?
  
*?Robots started in a line one after the other - mimic ant trail?
 
 
  ⚫
;Task
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;Goal
  
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*''Large'' group of robots must navigate over hill towards target.
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*Two robots must navigate over hill towards target.
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*If they encounter hill, they aggregate into several two sbot swarmbots (using group size selection mechanism)
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*When they encounter hill, they use adaptive rotation (adaptive to orientation of hill) to avoid toppling.
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*The two-sbot swarmbots separately navigate the hill into the target zone. (using adaptive swarm rotation to avoid parallel approach)
  
   
 
;Methods
  
;Methods
 
*Reuse existing functional self assembly controller. (Published work)
  
*Reuse existing functional self assembly controller. (Published work)
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*Develop adaptive (to hill orientation) control. (New work)
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*Group size selection mechanism to form two sbot swarm bots. (Completely new work)
  
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*Use adaptive swarm rotation mechanis to avoid parallel approach problem. (Previous unpublished work)
  
 
<br>
  
<br>
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==Medium Term (~September 2006)==
  
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;Goal
  
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Further experimentation to add body to Phd / publish.
  
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==Experiment==
  
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−
;Goal
  
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*Have sbots detect how difficult an obstacle is and form group size / group pattern accordingly.
  
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⚫
;Task
  
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*Cross Hole to get to target
  
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*Start in two sbot swarm configuration.
  
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*Detect hole. If hole is too big, join with other two sbot team. Form 4 sbot line.
  
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−  
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;Method
  
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*Use adaptive swarm rotation throughout.
  
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*?Detect alignment of hole?
  
   
   
 
==Misc Ideas==
  
==Misc Ideas==
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*Help Lausanne disassemble / repair robots - learn about hardware. Skills transfer for lab.
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*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.

Revision as of 11:40, 2 December 2005

Long Term - Phd Theme

Theory
Explore aspects of functional self assembly.
  1. Decision Process
    • Is self-assembly necessary
  2. Structure
    • What is appropriate size for connected groups
    • What is appropriate shape for connected groups
  3. Behaviour
    • What to do when connected (cooperative movement, transport, navigation, etc)?
  4. Timing
    • When should swarm assemble?
    • When should swarm disassemble?
Practice
  1. Parametrised group size selection mechanism (2,3,4,..)
    • Initially in a non-adaptive way
    • Maybe in an adaptive way
  2. 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
  3. 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.
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