Development of Control Software for SWARMBOT

 


    swamboyWorking with one of the Ph.D students from the ARL in the research topic of “Bio-inspired Distributed Control of Small Teams of AUVs with Minimal Communication”, I extended the Multi-agent based C2 system and deployed onto a team of miniature marine vehicles called the SWARMBOT (see picture below), for a cooperative source localization mission. The experiment aims to demonstrate the emergent behavior which arose from the implicit communication among a team of robotic systems [1].

    Rather than developing a new C2 system for the control of the SWARMBOTs, we simply deploy the existing C2 system with only a minor modification to the overall control architecture. Since the SWARMBOT is equipped with different sensors and actuators, compared to the STARFISH AUV, a new Sentuator module was developed to replace the existing STARFISH Sentuator module. The desired cooperative behavior for the vehicle team can be incorporated within a new BD_BIOCAST agent, without any modification to the existing pool of the Backseat Driver agents or the control architecture.

References:

[1] Mansoor Shaukat, Mandar Chitre, Y. T. Tan, and A. Raste, “Bio-CAST: A bio-inspired control algorithm for small team of robots using implicit communication for cooperative source localization,” Journal of oceanic engineering (under review).
[Bibtex]
@article{BIOCAST,
Author = {Mansoor Shaukat, and Mandar Chitre, and Y. T. Tan, and Ashish Raste},
Date-Added = {2015-05-10 20:35:15 +0000},
Date-Modified = {2016-06-14 18:24:54 +0000},
Journal = {Journal of Oceanic Engineering (under review)},
Title = {{Bio-CAST: A} Bio-inspired control algorithm for small team of robots using implicit communication for cooperative source localization}}

 

biocast

biocast1

Video credit: M. Shaukat