Perpetual Robot Swarm: Long-Term Autonomy of Mobile Robots Using On-the-fly Inductive Charging

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00314298" target="_blank" >RIV/68407700:21230/18:00314298 - isvavai.cz</a>

Výsledek na webu

<a href="https://link.springer.com/article/10.1007/s10846-017-0673-8" target="_blank" >https://link.springer.com/article/10.1007/s10846-017-0673-8</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s10846-017-0673-8" target="_blank" >10.1007/s10846-017-0673-8</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Perpetual Robot Swarm: Long-Term Autonomy of Mobile Robots Using On-the-fly Inductive Charging

Popis výsledku v původním jazyce

Swarm robotics studies the intelligent collective behaviour emerging from long-term interactions of large number of simple robots. However, maintaining a large number of robots operational for long time periods requires significant battery capacity, which is an issue for small robots. Therefore, re-charging systems such as automated battery-swapping stations have been implemented. These systems require that the robots interrupt, albeit shortly, their activity, which influences the swarm behaviour. In this paper, a low-cost on-the-fly wireless charging system, composed of several charging cells, is proposed for use in swarm robotic research studies. To determine the system’s ability to support perpetual swarm operation, a probabilistic model that takes into account the swarm size, robot behaviour and charging area configuration, is outlined. Based on the model, a prototype system with 12 charging cells and a small mobile robot, Mona, was developed. A series of long-term experiments with different arenas and behavioural configurations indicated the model’s accuracy and demonstrated the system’s ability to support perpetual operation of multi-robotic system.

Název v anglickém jazyce

Perpetual Robot Swarm: Long-Term Autonomy of Mobile Robots Using On-the-fly Inductive Charging

Popis výsledku anglicky

Swarm robotics studies the intelligent collective behaviour emerging from long-term interactions of large number of simple robots. However, maintaining a large number of robots operational for long time periods requires significant battery capacity, which is an issue for small robots. Therefore, re-charging systems such as automated battery-swapping stations have been implemented. These systems require that the robots interrupt, albeit shortly, their activity, which influences the swarm behaviour. In this paper, a low-cost on-the-fly wireless charging system, composed of several charging cells, is proposed for use in swarm robotic research studies. To determine the system’s ability to support perpetual swarm operation, a probabilistic model that takes into account the swarm size, robot behaviour and charging area configuration, is outlined. Based on the model, a prototype system with 12 charging cells and a small mobile robot, Mona, was developed. A series of long-term experiments with different arenas and behavioural configurations indicated the model’s accuracy and demonstrated the system’s ability to support perpetual operation of multi-robotic system.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GJ17-27006Y" target="_blank" >GJ17-27006Y: Prostorově temporální representace pro dlouhodobou navigaci mobilních robotů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2018

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Journal of Intelligent and Robotic Systems

ISSN

0921-0296

e-ISSN

1573-0409

Svazek periodika

88

Číslo periodika v rámci svazku

273

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

18

Strana od-do

395-412

Kód UT WoS článku

000447741700002

EID výsledku v databázi Scopus

2-s2.0-85030850681