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Local Bearing Estimation for a Swarm of Low-Cost Miniature Robots.


ABSTRACT: Swarm robotics focuses on decentralised control of large numbers of simple robots with limited capabilities. Decentralised control in a swarm system requires a reliable communication link between the individuals that is able to provide linear and angular distances between the individuals-Range & Bearing. This study presents the development of an open-source, low-cost communication module which can be attached to miniature sized robots; e.g., Mona. In this study, we only focused on bearing estimation to mathematically model the bearings of neighbouring robots through systematic experiments using real robots. In addition, the model parameters were optimised using a genetic algorithm to provide a reliable and precise model that can be applied for all robots in a swarm. For further investigation and improvement of the system, an additional layer of optimisation on the hardware layout was implemented. The results from the optimisation suggested a new arrangement of the sensors with slight angular displacements on the developed board. The precision of bearing was significantly improved by optimising in both software level and re-arrangement of the sensors' positions on the hardware layout.

SUBMITTER: Liu Z 

PROVIDER: S-EPMC7309109 | biostudies-literature | 2020 Jun

REPOSITORIES: biostudies-literature

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Local Bearing Estimation for a Swarm of Low-Cost Miniature Robots.

Liu Zheyu Z   West Craig C   Lennox Barry B   Arvin Farshad F  

Sensors (Basel, Switzerland) 20200610 11


Swarm robotics focuses on decentralised control of large numbers of simple robots with limited capabilities. Decentralised control in a swarm system requires a reliable communication link between the individuals that is able to provide linear and angular distances between the individuals-<i>Range & Bearing</i>. This study presents the development of an open-source, low-cost communication module which can be attached to miniature sized robots; e.g., <i>Mona</i>. In this study, we only focused on  ...[more]

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