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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