Difference between revisions of "Plan Rehan O'Grady"

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#Do Experiment
 
#Do Experiment
 
#Publish
 
#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
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#*What to do when connected (cooperative movement, transport, navigation, etc)?
  +
#Timing
  +
#*When should swarm assemble?
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#*When should swarm disassemble?
   
   
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;Methods
 
;Methods
*:Reuse existing functional self assembly controller. (Published work)
+
*Reuse existing functional self assembly controller. (Published work)
*: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 (Previous unpublished work)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 (Previous unpublished work)
   
 
==Medium Term (~September 2006)==
 
==Medium Term (~September 2006)==
   
Goal: Further experimentation to add body to Phd / publish.
+
*Goal: Further experimentation to add body to Phd / publish.

Revision as of 16:36, 1 December 2005

Approach

  1. Design Experiment
  2. Get Input/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.

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.