Networking Swarm. Zhilong Liu James Lam Yi Sarah Hung. Prof. Alberto L. Sangiovanni-Vincentelli
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1 Networking Swarm Members: Rachel Chong Zhilong Liu James Lam Yi Sarah Hung Instructor: Prof. Edward Lee Prof. Alberto L. Sangiovanni-Vincentelli
2 Agenda Objective Hardware RSSI Software Architecture Gradient Ascend Communication Video Application Future Work Acknowledgement Reference
3 Objective The objective of this project is to implement a swarm of robots that collaborate via network communication as well as low powered radio RSSI (Received Signal Strength Indicator) to coordinate their movements.
4 Objective Gradient Descend
5 Objective Gradient Ascend
6 Objective Gradient Descend
7 Objective Gradient Ascend
8 Objective Gradient Ascend
9 Objective Gradient Descend
10 Objective Gradient Ascend
11 Objective Gradient Ascend 3
12 Objective 2 1 Gradient Ascend 4 3
13 Objective Gradient Ascend
14 Objective Gradient Ascend 3
15 Objective Gradient Ascend 3
16 Objective Gradient Ascend
17 Objective Gradient Ascend 1
18 Objective Gradient Ascend 1
19 Objective Gradient Ascend 1
20 Objective Gradient Descend
21 Objective Gradient Descend
22 Hardware Biomimetic Millisystems Laboratory
23 Hardware Odroid U3
24 Hardware mbed LPC1768
25 Hardware XBee Series GHz ( )
26 Hardware WiFi
27 Hardware Pololu DRV8833 Dual Motor Driver Carrier Zumo Robot Kit
28 Hardware Pololu Step-Down Voltage Regulator
29 Received Signal Strength Indicator experiments investigating RSSI vs. distance fluctuate randomly over large distance but approx. linear within 1.5 m within this range, gradient ascend & descend is reasonably robust
30 Received Signal Strength Indicator experiments investigating RSSI vs. distance fluctuate randomly over large distance but approx. linear within 1.5 m within this range, gradient ascend & descend within this range is reasonably robust
31 Software Architecture receive/decode packet report RSSI value Xbee Wrapper Library LCM Motor Driver Xbee Wrapper Library Chaining Algorithm transmit packet Chaining Algorithm drive or turn the motor LCM Motor Driver
32 Chaining Overall State Machines interactions ZUMY 1 OTHER ZUMY
33 Gradient Ascend Algorithm Basic algorithm Ending RSSI: -38dB Drive time function RSSI Stage benefit
34 Gradient Ascend State Machine
35 Gradient Descend Algorithm Basic algorithm Multiple Zumy s
36 Communication Threads transmit receive ZUMY 1 transmit receive ZUMY 2 transmit receive ZUMY 3
37 Communication Threads transmit receive START_ASCEND REGULAR STOP_ACK ACK REGULAR ZUMY 1 transmit receive ZUMY 2 COMMAND-ACKNOWLEDGEMENT CYCLE transmit receive ZUMY 3
38 Communication Threads transmit receive START_ASCEND REGULAR STOP_ACK ACK ZUMY 1 REGULAR transmit receive ARRIVAL COMMAND-ACKNOWLEDGEMENT CYCLE REGULAR STOP_ACK ACK ZUMY 2 REGULAR transmit receive COMMAND-ACKNOWLEDGEMENT CYCLE ZUMY 3
39 Communication Threads
40 Communication Packet start gradient ascend
41 Communication robot ID (unique for each robot) command packet # (timestamp) start gradient ascend
42 Communication acknowledge gradient ascend
43 Communication intended recipient acknowledge gradient ascend
44 Communication stop acknowledgement
45 Communication go back to normal mode
46 Communication go back to normal mode
47 Communication
48 Video v=nidyiy6h6tw
49 Final Touch Analyze runtime of gradient ascend/descend command-acknowledgement cycle
50 Application Exploration in hazardous environment Environment mapping Monitoring system
51 Future Work Append with Laser Range Finder Measuring RSSI in motion Automatic bot chaining Automatic motion coordination by neighbor bots Localization
52 Acknowledgement Special thanks to: Prof. Edward Lee Prof. Alberto L. Sangiovanni-Vincentelli Prof. Rob Fearing Matt Weber Ben Zhang Antonio Ianopollo Austin Buchan Andrew Pullin
53 References XBee Python Library by Paul Malmsten, Greg Rapp, and Brian. Zumy Library by Andrew Chen.
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