Difference between revisions of "Plan Rehan O'Grady"

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===Experiment===
 
===Experiment===
   
  +
;Environment
Environment: Same as previous functional self assembly experiment.
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*Same as previous functional self assembly experiment.
 
  +
*Robots started in a chain?
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;Goal
 
;Goal
 
*''Large'' group of robots must navigate over hill towards target.
 
*''Large'' group of robots must navigate over hill towards target.
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*Group size selection mechanism to form two sbot swarm bots. (Completely new 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 (Previous unpublished work)
 
*Use adaptive swarm rotation mechanis to avoid parallel approach problem. (Previous unpublished work)
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<br>
   
 
==Medium Term (~September 2006)==
 
==Medium Term (~September 2006)==

Revision as of 16:40, 1 December 2005

Approach

  1. Design Experiment
  2. Fix experiment (Confirmation from Marco)
  3. Build Controller
  4. Do Experiment
  5. Publish

Long Term - Phd Theme

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?


Short Term (~End March 2006)

Goal: expand functional self-assembly experiment and publish new and old work together in a journal.

Experiment

Environment
  • Same as previous functional self assembly experiment.
  • Robots started in a chain?
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.