Session: 07-10-02: Mobile Robots and Unmanned Ground Vehicles

Paper Number: 113322

113322 - SWARM Applications Using Commercial Robots 

The research seeks to design a self-folding robot swarm system that can investigate highly uncertain terrains in space. The project offers various scientific merits in space-restriction-free exploration of transformable robots on planets. The proposed devices will be applicable in various hard-to-reach regions in space and enable cooperative operations for unpredictable environments.

The self-folding robot swarm system consists of multiple robots that can self-fold and self-assemble to perform different tasks. The robots are equipped with an onboard microcontroller that controls their movement and communication with other robots in the swarm. The multi-legged system of the robot uses ceramic smart material to provide the necessary actuation for folding and unfolding. The proposed work aims to develop algorithms for edge-following, gradient formation, localization, self-assembly, and connection to enable cooperative operations within the swarm.

The proposed work involves developing algorithms for edge-following, gradient formation, localization, self-assembly, and connection. The self-folding robot driven by multi-legged systems using ceramic smart material has been developed, and the proposed work aims to develop algorithms for swarm robotics that can combat issues of redundancy and cross-checking within the swarm. All experiments are still in development and will be run on artificial structures with the reproduction of moon environments and recorded by a camera.

To enable communication between the robots, IR signals were used, and a time-of-flight sensor were used to measure distance. The algorithms for edge-following, gradient formation, localization, self-assembly, and connection were designed to address issues of redundancy and cross-checking within the swarm, ensuring that the system can operate effectively and efficiently in unpredictable environments.

The development of the algorithms for the self-folding robot swarm system involves a combination of mathematical modeling, simulation, and experimental testing. The experiments were designed to test the performance of the swarm system under different scenarios, such as varying levels of uncertainty and terrain complexity. The algorithms were designed to enable cooperative operations within the swarm and achieve the desired tasks.

The results section presents the preliminary findings of the experiments on the self-folding robot swarm system. It highlights the potential performance of the swarm system in performing various tasks, including investigating highly uncertain terrains, edge-following, gradient formation, localization, self-assembly, and connection. The results includes data on the accuracy, efficiency, and reliability of the algorithms and the system as a whole.

The proposed work aims to contribute to the field of robotics and space exploration by developing a self-folding robot swarm system that can investigate highly uncertain terrains in space. The system has the potential to enable cooperative operations in unpredictable environments and explore hard-to-reach regions in space. The proposed work offers various scientific merits in space-restriction-free exploration of transformable robots on planets and provides opportunities for student education and skill development in the area of robotics and sensing technologies.

Presenting Author: Minchul Shin Northern Kentucky University

Presenting Author Biography: Minchul Shin received the B.S degree from Kyungpook National University, Daegu, Korea, in 2005, the M.S degree from University of Alabama at Birmingham, and the Ph.D. degree from the Tufts University in 2012, specializing in Microelectromechanical Systems (MEMS) and Micro/Nano Fabrication. Following his Ph.D., he worked as a postdoctoral fellow at the University of Michigan with a research concentration on thin film micro-robot design. His research Interests includes soft robotics, MEMS design, sound source detection, and micro robotics

Authors:

Emmanuel Augustine Northern Kentucky University
Minchul Shin Northern Kentucky University