Robots

List of Robots at IRIDIA

• e-pucks
  • e-puck status information (failures, errors, ...)
  • e-puck faq
  • e-puck resources

• sbots
  • sbot status information (failures, errors, ...)
  • sbot faq - Hardware FAQ
  • The official SwarmBots webpage
  • SBOT technical resource page - Download the sbot API and the tool chain for cross-compilation.
  • Sbot Common Repository - Common version control area for all sbot development.
  • Sbot Common Interface - Write your controller once. Compile it for simulation and real robot.
  • OMiss - The ODE based simulator - Get started with the ODE based simulator
  • libsboteye - The sboteye api to use 'easily' the camera.

• Swarmanoid
  • The official Swarmanoid webpage
  • The official Swarmanoid Wiki page
  • The ARGoS Simulator homepage - Sourcecode, bugtracker, wiki
    • foot-bots
      • (to be added)
    • eye-bots
      • (to be added)
    • hand-bots
      • (to be added)

Access to the robots

Bluetooth

Bluetooth is the preferred access method for the e-pucks. (to be added)

Wifi/WLAN

Wifi is the preferred access method for the sbots and all the swarmanoid robots.

The robots connect to a dedicated wireless network upon boot. They receive private IP addresses from the access point. An individual robot can be accessed from the outside by accessing a special port on the access point. For example, the following can be used for accessing sbot8 using ssh:

$ ssh -p 20822 root@robots.ulb.ac.be

Wireless link

Access point: pauli.ulb.ac.be (robots.ulb.ac.be)

• SSID: sbot (robots)
• WEP-104 key
  • ASCII: swarm-bots-ch (IRIDIA-robots)
  • HEX: 737761726d2d626f74732d6368 (4952494449412d726f626f7473)

Ports

Access to Ports < 100: port=[prefix][robotnum][port]

Example: access to ssh (port 22) on sbot8: 20822

• sbots: port prefix 2
  • port 20622: ssh access to sbot6
  • port 20822: ssh access to sbot8
  • port 20922: ssh access to sbot9
  • port 21322: ssh access to sbot13
  • port 21922: ssh access to sbot19
  • port 22222: ssh access to sbot22
  • port 22322: ssh access to sbot23
  • port 22422: ssh access to sbot24
  • port 22622: ssh access to sbot26
  • port 23022: ssh access to sbot30
  • port 23222: ssh access to sbot32
  • port 23522: ssh access to sbot35
  • port 23622: ssh access to sbot36

• foot-bots: port prefix 3
  • (to be added)

• eye-bots: port prefix 4
  • (to be added)

• hand-bots: port prefix 5
  • (to be added)

Private IP Addresses

Network: 192.168.1.0/24 Gateway: 192.168.1.254

• sbots: 192.168.1.[10+robotnum] (192.168.1.10-29)
• foot-bots: 192.168.1.[40+robotnum] (192.168.1.40-59)
• eye-bots: 192.168.1.[70+robotnum] (192.168.1.70-89)
• hand-bots: 192.168.1.[100+robotnum] (192.168.1.100-119)

Serial Console

sbots

I (Arne) made two serial console access cables. They are marked with sbot serial console access and should be in the arena. Connect the small red plug to the sbot connector on the left of the power-on switch. It's slightly under the microphone board, so you might want to remove it (but you can do without). The program of choice for connect to the robot is minicom. Use

$ minicom -s

for setting it up. The connection details are: 115kbaud, 8N1, no flow control. Your port should be /dev/ttyS0 if you have a real serial port, or /dev/ttyUSB0 if you're using the USB-to-serial adapter (should be flying around in the arena as well). Then, use

$ minicom -o

to connect to the robot. Upon bootup, you should see the kernel messages. If you connected after booting, you might have to press <ENTER> one time to get a prompt.

swarmanoid robots

(to be added)