Task Abstraction Module

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Task Abstraction Module

Related pages

How-to cite

Here is the bibtex entry of the article to cite:

 author  = {Arne Brutschy and Lorenzo Garattoni and Manuele Brambilla and Gianpiero Francesca and Giovanni Pini
and Marco Dorigo and Mauro Birattari},
 title   = {The {TAM}: abstracting complex tasks in swarm robotics research},
 journal = {Swarm Intelligence},
 year    = {2015},
 volume  = {9},
 number  = (1),
 pages   = {1--22},
 doi     = {10.1007/s11721-014-0102-6}

Sources/GIT repositories

The coordinator


Write a controller


The Firmware


Flash a TAM



Problems with librxtxSerial.so

Check that the link in the "coordinator" directory is pointing to the correct version. Example for a 32 bits pc:

 librxtxSerial.so -> libs-dist/rxtx-2.2pre2-bins/i686-pc-linux-gnu/librxtxSerial.so

Could not find port: /dev/ttyUSB0

Check that you have a file /dev/ttyUSB0 or /dev/ttyUSB1 and change the setting in the main of the experiment.

Check that you have permission to read from them, e.g.:

 cat /dev/ttyUSB0

should not give a "denied" message

In case you don't, add yourself to the correct group. Also, you can try doing

 chmod 666 /dev/ttyUSB0

Connect to the right coordinator

Check the pins on the TAM. The diagram can be confusing: the black dot is where the pin should be.

For example, to use coordinator 1, the pins should be like this:

 X =
 = =
 = X

Where X is the pin and = means empty