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Project Proposal

Project Proposal - Multirobot Task Coordination...

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Multirobot Task Coordination with Non- Communicative Distributed Approach 1. INTRODUCTION A multi-robot system which is robust, reliable, scalable and heterogeneous is the need of the time. For a range of specialized tasks which are too difficult to be performed by human beings or there’s a risk of life, for example a rescue team for earthquakes, or for firefighting or for space exploration we can build robots which can perform these tasks, transport of heavy freight objects over a short or long distance. Though sounds novel, it is at the same time a hard (but not impossible) problem to build such a team of robots which can perform such complex tasks without any human intervention. All of these tasks require robots to coordinate among themselves to achieve the desired objective. In this paper we’ll discuss a simple box pushing task which requires two or more than two robots. The team of robots is distributed and all computation is decentralized. That is robots based on information gathered from environment about the location of the object, goal, obstacles and other robots in the environment will compute its action to produce a behavior which will guide the robot to perform certain set of tasks. Thus no explicit communication mechanism is used between robots for task coordination; robots only have knowledge of the task to be performed. The sub-problems that will be covered in this box pushing task problem are, 1) In cases when goal location may change, how will robots react to this change? 2) In case there’s a failure of one of the robots and box pushing task cannot be achieved without that robot, what will be the behavior of other robots in this situation? 3) How obstacle avoidance can be achieved? 4) How recovery from stagnation will be achieved? Our robots are equipped with a visual sensor (a camera utility) with which it can detect box and goal. Symbols will be used to differentiate between box and goal. We make assumption that there’s no obstacle which has same symbol as that on goal and box to be pushed and also that there are no areas of negative space in the environment. The behaviors are implemented represented as modules and combinations of these different at different situations will determine the behavior of robots.
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2. Background This work is inspired by Kube et. al. [1,2] box-pushing experiments, where they have demonstrated stagnation recovery behavior and have used perceptual cues from environment. 3. Modular Approach The box-pushing strategy has been subdivided into various modules biz 1) Random- Wander module 2) Box-Search module 3) Reach-Destination module 4) Goal-Position- Locate module 5) Box-Pushing module 6) Position-Adjustment module 7) Obstacle- Avoidance module 8) Fault-Detection-And-Recovery module. At start only Box-Search module, Obstacle-Avoidance module and Fault-Detection module are activated and rest
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Project Proposal - Multirobot Task Coordination...

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