کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
411294 679532 2014 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Kilobot: A low cost robot with scalable operations designed for collective behaviors
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Kilobot: A low cost robot with scalable operations designed for collective behaviors
چکیده انگلیسی


• Present design of Kilobot, a low cost robot for testing collective algorithms on large groups.
• Easy to use with a single user.
• Demonstrations of collective algorithms on up to 100 robots.

In current robotics research there is a vast body of work on algorithms and control methods for groups of decentralized cooperating robots, called a swarm or collective. These algorithms are generally meant to control collectives of hundreds or even thousands of robots; however, for reasons of cost, time, or complexity, they are generally validated in simulation only, or on a group of a few tens of robots. To address this issue, this paper presents Kilobot, an open-source, low cost robot designed to make testing collective algorithms on hundreds or thousands of robots accessible to robotics researchers. To enable the possibility of large Kilobot collectives where the number of robots is an order of magnitude larger than the largest that exist today, each robot is made with only $14 worth of parts and takes 5 min to assemble. Furthermore, the robot design allows a single user to easily operate a large Kilobot collective, such as programming, powering on, and charging all robots, which would be difficult or impossible to do with many existing robotic systems. We demonstrate the capabilities of the Kilobot as a collective robot, by using a small robot test collective to implement four popular swarm behaviors: foraging, formation control, phototaxis, and synchronization.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 62, Issue 7, July 2014, Pages 966–975
نویسندگان
, , , , ,