Difference between revisions of "Plan Rehan O'Grady"

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==Approach==
 
 
#Design Experiment
 
#Fix experiment (Confirmation from Marco)
 
#Build Controller
 
#Do Experiment
 
#Publish
 
 
 
==Long Term - Phd Theme==
 
==Long Term - Phd Theme==
  +
;Theory
;Explore aspects of functional self assembly.
+
:Explore aspects of functional self assembly.
 
#Decision Process
 
#Decision Process
 
#*Is self-assembly necessary
 
#*Is self-assembly necessary
Line 20: Line 13:
 
#*When should swarm disassemble?
 
#*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 (~End March 2006)==
+
==Short Term (End March 2006)==
   
 
===Goal===
 
===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.
+
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===
Line 32: Line 36:
 
*?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
;Goal
 
*''Large'' group of robots must navigate over hill towards target.
+
*Two robots must navigate over hill towards target.
*If they encounter hill, they aggregate into several two sbot swarmbots (using group size selection mechanism)
+
*When they encounter hill, they use adaptive rotation (adaptive to orientation of hill) to avoid toppling.
*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)
  +
*Develop adaptive (to hill orientation) control. (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)
 
 
<br>
 
<br>
 
==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==
 
==Misc Ideas==
*Help Lausanne disassemble / repair robots - learn about hardware. Skills transfer for lab.
+
*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.